A sensitivity approach to optimal spline robot trajectories

✍ Scribed by A. de Luca; L. Lanari; G. Oriolo

• Publisher: Elsevier Science
• Year: 1991
• Tongue: English
• Weight: 473 KB
• Volume: 27
• Category: Article
• ISSN: 0005-1098
• DOI: 10.1016/0005-1098(91)90111-e

✦ Synopsis

Abstrnct--A robot trajectory planning problem is considered. Using smooth interpolating cubic splines as joint space trajectories, the path is parameterized in terms of time intervals between knots. A minimum time optimization problem is formulated under maximum torque and velocity constraints, and is solved by means of a first order derivative-type algorithm for semi-infinite nonlinear programming. Feasible directions in the parameter space are generated using sensitivity coefficients of the active constraints. Numerical simulations are reported for a two-link Scara robot. The proposed approach can be used for optimizing more general objective functions under different types of constraints.