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In This Chapter .: Trajectory Planning
In This Chapter .: Trajectory Planning
Trajectory Planning
5.1 INTRODUCTION
In this chapter…….
Path and trajectory planning means the way that a robot is moved
from one location to another in a controlled manner.
Fig. 5.9 An alternative scheme for ensuring that the robot will go
through a specified point during blending of motion segments.
Two via points D and E are picked such that point B will fall on
Fig. 5.8 Blending of different motion segments in a path.
the straight-line section of the segment ensuring that the robot
will pass through point B.
The animation below compares a trapezoidal velocity trajectory with
zero velocity at the waypoints (left) and a quintic polynomial
trajectory with nonzero velocity at the waypoints (right).
Robot motion planning
Tasks
Task Plan
Action Plan
Path Plan
Trajectory
Plan
Controller
Robot
Sensor
Trajectory Planning
• Point to point motion
• Teach initial and final points; intermediate path is not
critical and is computed by the controller
• Applications: Moving of parts, spot welding, automated
loading and unloading of machines; pick-and-place
motion
• Continuous path motion
• Used when there is a need to follow a complex path
through 3-D space, possibly at high speeds (spray
painting, welding, polishing)
• Points generally taught by manual lead through with
high speed automatic sampling
Point to Point Motion
• Simple point-to-point smooth trajectory with a few constraints on the lift-off
and set-down positions.
• There are 3 ways a manipulator can move from point to point:
• slew motion
• joint interpolated motion
• straight line motion
• Slew motion: all joints move to their required new position as quickly as
possible. All axes begin motion at the same time but arrive at their
destination at different times. This generally results in joint wear and
unpredictable arm motions.
• Joint interpolated motion requires the controller to calculate which joint will
take the longest to arrive at its destination and slow other joints down
accordingly. A separate velocity is calculated for each axis. Manipulator
motion is generally smooth and wear is reduced.
• Straight line motion is a particular case of continuous path motion.
Point to Point Motion
• Joint based
trajectory for a
single joint using
point to point
motion.
• Lift-off and set-
down points
provided for
satisfying
acceleration
constraints
Chapter 5
Trajectory Planning
1 1
(t ) c0 c1t c2t 2 (t ) i c2t 2
2 2
(t ) c1 c2t
(t ) c2t
(t ) c2 (t ) c2
The position of the robot at time t0 is known and using the inverse
kinematic equations of the robot, the joint angles at via points and at
the end of the motion can be found.