Simultaneous algorithm for trajectory planning |
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Authors: | Francisco J. Rubio Francisco J. Valero Jose Luis Suñer Vicente Mata |
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Affiliation: | Mechanical Engineering, Polytechnic University of Valencia, Camino de Vera, Valencia 46022, Spain |
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Abstract: | This paper addresses the solution of smooth trajectory planning for industrial robots in environments with obstacles using a direct method, creating the trajectory gradually as the robot moves. The presented method deals with the uncertainties associated with the lack of knowledge of kinematic properties of intermediate via‐points since they are generated as the algorithm evolves looking for the solution. Several cost functions are also proposed, which use the time that has been calculated to guide the robot motion. The method has been applied successfully to a PUMA 560 robot and four operational parameters (execution time, computational time, distance travelled and number of configurations) have been computed to study the properties and influence of each cost function on the trajectory obtained. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society |
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Keywords: | Robotics trajectory planning direct method obstacles avoidance |
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