An interval algorithm for minimum-jerk trajectory planning of robot manipulators

被引：0

作者：

Piazzi, A ^{[1
]}

Visioli, A ^{[1
]}

机构：

[1] Univ Parma, Dipartimento Ingn Informaz, I-43100 Parma, Italy

来源：

PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 | 1997年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we present a novel approach to find the minimum-jerk cubic spline joint trajectory of a robot manipulator, using interval analysis. Minimum-jerk trajectories are desirable for their amenability to path tracking and to limit robot vibrations whilst cubic splines are used in order to ensure continuity of velocities and accelerations in the robot movement. The optimization problem, that can be seen as a constrained minimax problem, is solved through the use of interval analysis that guarantees that the global minimum is found with an arbitrary precision. We describe the employed algorithm and computational results are also presented.

引用

页码：1924 / 1927

页数：4

共 50 条

[41] MINIMUM-JERK, 2/3-POWER LAW, AND ISOCHRONY - CONVERGING APPROACHES TO MOVEMENT PLANNING
VIVIANI, P
FLASH, T
JOURNAL OF EXPERIMENTAL PSYCHOLOGY-HUMAN PERCEPTION AND PERFORMANCE, 1995, 21 (01) : 32 - 53
[42] A* Algorithm Path Planning and Minimum Snap Trajectory Generation for Mobile Robot
Ma, Zhengwei
Qiu, Hailun
Wang, Huaizhi
Yang, Longhao
Huang, Lihong
Qiu, Rengao
2021 4TH INTERNATIONAL CONFERENCE ON ROBOTICS, CONTROL AND AUTOMATION ENGINEERING (RCAE 2021), 2021, : 284 - 288
[43] Time-Jerk Synthetic Optimal Trajectory Planning of Robot Based on Fuzzy Genetic Algorithm
Cong, Ming
Xu, Xiaofei
Xu, Peter
2008 15TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP), 2008, : 269 - +
[44] TRAJECTORY FORMATION OF VERTICAL ARM MOVEMENTS THROUGH A VIA-POINT - A LIMIT OF VALIDITY OF THE MINIMUM-JERK MODEL
FURUNA, T
NAGASAKI, H
PERCEPTUAL AND MOTOR SKILLS, 1993, 76 (03) : 875 - 884
[45] Legibility of Robot Approach Trajectories with Minimum Jerk Path Planning
Cuijpers, Raymond H.
Ruijten, Peter A. M.
van den Goor, Vincent J. P.
SOCIAL ROBOTICS, ICSR 2020, 2020, 12483 : 392 - 403
[46] Reduced Jerk Joint Space Trajectory Planning Method Using 5-3-5 Spline for Robot Manipulators
Porawagama, C. D.
Munasinghe, S. R.
2014 7TH INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION FOR SUSTAINABILITY (ICIAFS), 2014,
[47] Simulation of human masticatory jaw movement by minimum-jerk model
Yashiro, K
Yamauchi, T
Takada, K
NEUROBIOLOGY OF MASTICATION - FROM MOLECULAR TO SYSTEMS APPROACH, 1999, 1186 : 407 - 410
[48] ENERGY-EFFICIENT TRAJECTORY PLANNING FOR ROBOT MANIPULATORS
Lorenz, Michael
Paris, Jascha
Schoeler, Frederic
Barreto, Juan-Pablo
Mannheim, Tom
Huesing, Mathias
Corves, Burkhard
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2017, VOL 5B, 2017,
[49] Trajectory Planning of Robot Manipulators based on Unit Quaternion
Liu, Yang
Xie, Zongwu
Gu, Yikun
Fan, Chunguang
Zhao, Xiaoyu
Liu, Hong
2017 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2017, : 1249 - 1254
[50] A method for trajectory planning of robot manipulators in Cartesian space
Xu, XR
Chen, YB
PROCEEDINGS OF THE 3RD WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-5, 2000, : 1220 - 1225

← 1 2 3 4 5 →