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An iterative method for generating kinematically feasible interference-free robot trajectories

Published online by Cambridge University Press:  09 March 2009

R. O. Buchai  and
D. B. Cherchas
R. O. Buchai
Affiliation:
Department of Mechanical EngineeringUniversity of Western Ontario, London, Ontario, N6A 5B9 (Canada).
D. B. Cherchas
Affiliation:
Department of Mechanical Engineering, University of British Columbia, Vancouver, B.C., V6T 1W5 (Canada).
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Summary

This paper proposes a method for finding an optimal geometric robot trajectory to perform a specified point-to-point motion without violating joint displacement limits or interference constraints. The problem is discretised, and a quantitative measure of interference is proposed. Constraint violations are represented by exterior penalty functions, and the problem is solved by iteratively improving an initial estimate of the trajectory. This is accomplished by numerically minimizing a cost functional using a modified Newton–Raphson method.

Keywords

Robot trajectoriesInterference-freeIterative methodFeasible kinematics.

Information

Type
Research Article
Information
Robotica , Volume 7 , Issue 2 , April 1989 , pp. 119 - 127
Copyright
Copyright © Cambridge University Press 1989

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