TY - GEN
T1 - A feasible minimum-time trajectory of robot manipulator
AU - Meligy, R. E.
AU - Bassiuny, A. M.
AU - Bakr, E. M.
AU - Tantawy, A. A.
PY - 2013
Y1 - 2013
N2 - The main target of optimal motion planning is the generation of a trajectory that satisfies objectives, such as minimizing path traveling distance or time interval or obstacle avoidance, and satisfying the kinematics and dynamics of the robot. This paper presents a feasible method for determining the optimal time trajectory planning of robot manipulators using different degrees of B-spline which provide a continuity of position, velocity, acceleration and jerk. The Sequential Quadratic Programming (SQP) algorithm is used for solving the optimization problem taking into account the limits on the velocities, and accelerations for each joint of the robot. The proposed method is tested for movements of the first three-DOF of the CRS CataLyst-5T robot arm.
AB - The main target of optimal motion planning is the generation of a trajectory that satisfies objectives, such as minimizing path traveling distance or time interval or obstacle avoidance, and satisfying the kinematics and dynamics of the robot. This paper presents a feasible method for determining the optimal time trajectory planning of robot manipulators using different degrees of B-spline which provide a continuity of position, velocity, acceleration and jerk. The Sequential Quadratic Programming (SQP) algorithm is used for solving the optimization problem taking into account the limits on the velocities, and accelerations for each joint of the robot. The proposed method is tested for movements of the first three-DOF of the CRS CataLyst-5T robot arm.
UR - https://www.scopus.com/pages/publications/84881344619
U2 - 10.1109/ISMA.2013.6547390
DO - 10.1109/ISMA.2013.6547390
M3 - Conference contribution
AN - SCOPUS:84881344619
SN - 9781467350167
T3 - 2013 9th International Symposium on Mechatronics and Its Applications, ISMA 2013
BT - 2013 9th International Symposium on Mechatronics and Its Applications, ISMA 2013
T2 - 2013 9th International Symposium on Mechatronics and Its Applications, ISMA 2013
Y2 - 9 April 2013 through 11 April 2013
ER -