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Smooth point-to-point trajectory planning for robot manipulators by using radial basis functions

Published online by Cambridge University Press:  31 October 2018

Taha Chettibi
Taha Chettibi*
Affiliation:
Laboratoire Mécanique des Structures, U.E.R.M.A., E.M.P., Bordj El Bahri, Algiers 16111, Algeria
*
*Corresponding author. E-mail: tahachettibi@gmail.com
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Summary

The paper introduces the use of radial basis functions (RBFs) to generate smooth point-to-point joint trajectories for robot manipulators. First, Gaussian RBF interpolation is introduced taking into account boundary conditions. Then, the proposed approach is compared with classical planning techniques based on polynomial and trigonometric models. Also, the trajectory planning problem involving via-points is solved using the proposed RBF interpolation technique. The obtained trajectories are then compared with those synthesized using algebraic and trigonometric splines. Finally, the proposed method is tested for the six-joint PUMA 560 robot in two cases (minimum time and minimum time-jerk) and results are compared with those of other planning techniques. Numerical results demonstrate the advantage of the proposed technique, offering an effective solution to generate trajectories with short execution time and smooth profile.

Keywords

Gaussian RBFInterpolationTrajectory planningRobot manipulatorJerk

Information

Type
Articles
Information
Robotica , Volume 37 , Issue 3 , March 2019 , pp. 539 - 559
Copyright
Copyright © Cambridge University Press 2018 

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