UNIT-V

Kinematics and Dynamics of Robotics

By Dr.PVS Subhashini
 Syllabus
• Trajectory Generation
• Joint-Space Techniques: Cubic Polynomial
Trajectories, Linear Segments with Parabolic
Blends-without and with via points Cartesian-
Space Techniques: Straight line path, Circular
Path, Position Planning, Orientation Planning.
 Trajectory Planning
• The goal of trajectory planning is to generate a
function according to which a robot will move.
• E.g:
– Pick-up an object from one point and to place it in
another point, i.e., it is a “point-to-point” ” motion
– weld two metal pieces along a curve. It is a
“Continuous-path” motion
• A trajectory planning algorithm then computes
the inputs for the motion controller of the robot.
 Trajectory Planning
• Trajectory planning can be done either in the
– joint space, i.e., in terms of joint positions,
velocities and accelerations,
– Cartesian space (also called operational space),
i.e., in terms of the end-effector’s positions and
orientations, and their velocities and accelerations
• Usually Cartesian space is preferred. However,
the control action of the robot is carried in the
joint space
Trajectory Planning
 JOINT SPACE TECHNIQUES
• Use of P-degree polynomial interpolation
function
• Cubic polynomial trajectories
• Linear function with parabolic blends
 CARTESIAN SPACE TECHNIQUES
• Parametric description of path
• A straight line path
• A circular path
• Position planning
• Orientation planning
 Use of P-degree polynomial interpolation
function
• The minimum number of constraints for a
smooth motion between two points are
– (i) Initial position
– (ii) Initial velocity
– (iii) Final position
– (iv) Final velocity
• With four constraints, a third degree (cubic
spline) can be used
• q(t) = a0 + a1 t + a2 t2 + a3 t3
• If initial and final accelerations are also specified, then fifth
degree polynomial can be used
• Q(t) = a0 + a1 t + a2 t2 + a3 t3 + a4 t4 + a5 t5

• Practically, its necessary to move safe distance and move to position of drop off.
Therefore 4 position constraints are required

• (i) Initial position

• (ii) Lift off position

• (iii) set-down position

• (iv) Final position

 Trajectory of joints with six constraints
(4 position constraints and two acceleration
constraints)
• In summary, the constraints that can be applied to a joint for joint
interpolated trajectory planning can be grouped in to 4 categories
 Initial point constraints
 Intermediate point constraints
 Final point constraints
 Time constraints
 Initial point constraints (start or initial points):
– Position constraints
– Velocity constraints
– Acceleration constraints
 Intermediate point constraints:
– Lift off position
– Continuity at lift off position
– Continuity of velocity at lift off position
– Continuity of acceleration lift off position
 Set down position
Continuity at set down position
Continuity of velocity at set down position
Continuity OF acceleration set down position
Additional via points or knot points may be specified at each of such point
velocity/acceleration may be specified with additional constraint of continuity for
smooth transition.
Final point constraints:
Position
Velocity
Acceleration
Time constraints:
Total traverse time
Traversal time for each segment
Duration of a specific polynomial interpolating a trajectory in case of blended
trajectories
P- degree polynomial has p+1 coefficients and can therefore
satisfy p+1 constraints.
Polynomial with > 5 is computationally intensive and tends to
extraneous motion.
Complexity can be reduced by splitting the trajectory in to two
or more segments.
The type of polynomial used for trajectory
Linear position or constant velocity trajectory
Parabolic position or linear velocity or constant
acceleration trajectory
Some complex possibilities of polynomials
linear trajectory with parabolic blend
1 segment- quadratic(parabola)
2 segment- linear velocity or constant velocity
3 segment- quadratic ( parabola)
• 4-3-4 trajectory
– 1 segment- fourth degree polynomial
– 2 segment- cubic polynomial
– 3 segment-fourth degree polynomial
• 3-5-3 trajectory
– 1 segment- cubic polynomial
– 2 segment- fifth degree polynomial
– 3 segment- cubic polynomial
Cubic polynomials trajectory
Finally,
a 0 = qs
a1 = 0
a2 = (3/tg2) (qg - qs)
a3 = (2/tg3) (qg - qs)

q(t) = qs + + (3/tg2) (qg - qs) t 2 +

(2/tg3) (qg - qs) t 3
 Cubic polynomial problems
• The second joint of a SCARA manipulator is required to move from 30degrees to
150 degrees in 5 seconds. Find the cubic polynomial to generate the smooth
trajectory for the joint. What is the maximum velocity and acceleration for this
trajectory?

• ʘs = 300 ʘg = 1500 Vs =0 = Vg tg =5 sec

•
• a0 = ʘs = 300
• a1 = 0
• a2 = (3(ʘg - ʘs )) / tg2 =6
• a3 = (2(ʘg - ʘs )) / tg3 =-1.2
•
• Therefore
• ʘ(t) = a0 + a1 t + a2 t2 + a3 t3 = 30+6 t2 -1.2t3
• (t) = a1 + 2 a2 t + 3 a3 t2 = 12t -3.6 t2
• (t) = 2 a2 + 6 a3 t = 12 -7.2t
Cartesian-Space Techniques: Straight line
path
Circular path
Circular path
Position planning
Orientation planning
Orientation planning