Ghulam Ishaq Khan Institute of Engineering Sciences and

Technology, Topi, Pakistan

ME452
Robotics

Lecture No: 29

Instructor
Dr. Abid Imran
------Faculty of Mechanical Engineering------ Fall Semester 2023
1
 Content

• Trajectory planning
• Joint space Trajectory
• Task Space Trajectory

2
Task space trajectory

Geometric problem with

Cartesian path:
(a)Robot run into itself
(b)Sudden joint change
 Task Space
Advantages:
Collision free path can be obtained.
Dis-advantages:
Computationally expensive due to
involved inverse kinematics.
VS Joint Space
Advantages:
• No need to compute the inverse
kinematics in each iteration.
• The approach can take into account
joint angles limits and velocity
constraints easily.
Dis-advantages:
It is more difficult to deal with obstacles
represented in the operational space
 Task space trajectory
¿
Joint space trajectory
¿

Task Space
0.3

0.25

0.2

0.15

0.1

0.05

-0.05

-0.1
Joint Space
-0.2 -0.1 0 0.1 0.2
Joint space Scheme

𝜃(𝑜)
Initial position/
orientation
𝑈 (𝑜)

Inverse kinematics A smooth function of time to move

joint from initial to final position
(Trajectory in joint space)
Final position
/orientation
𝑈(𝑓 ) IK for initial and
𝜃( 𝑓 )
final configuration
Task Space
Joint space Space
Joint space Scheme

Initial joint position

A smooth function of
time to move joint
from initial to final
position

Final joint position Possible paths for single joint

Cubic polynomials: Joint space
• Four constraint are required for smooth motion.

Two constraints: Selection of intial Two constraints: Initial and final

and final position values velocities.

• To incorporates the four constraints, a third order polynomial is required

(which has four coefficients)

Velocity
Acceleration
Cubic polynomials: Joint space

Combing these eqs. With Constraints

four desired constraints.

• At t=0 • At t=

Four equation against four constraint

Cubic polynomials: Joint space

• At t=0 • At t=

Constraints

• Solving For coefficients, we will get • Considering the initial and

final velocities as zero
Cubic polynomials: Joint space
• At t=0 • At t=

Constraints
• Combine all equation in matrix form
1 0 0 0   a0    (0) 
1 t t 2f t 3f   a1   (t f ) 
 f     
0 1 0 0   a2    (0)   a0 
 2   
0 1 2t f 3t f   a3   (t f )  a 
where C   1

 a2 
 
C   A B
1

 AC  B  a3 
Example:
A single-link robot with a rotary joint is motionless at θ = 15 degrees. It is desired to move the
joint in a smooth manner to θ = 75 degrees in 3 seconds. Find the coefficients of a cubic that
accomplishes this motion and brings the manipulator to rest at the goal. Plot the position,
velocity, and acceleration of the joint as a function of time.

 (0)  15  (t f )  75
t f  3sec (0)   (t f )  0
Example in Matlab: 3DOF manipulator

x  l1c1  l2c1 2  l3c1 23

3 DOF Serial Manipulator
y  l1s1  l2 s1 2  l3s1 23
  1   2   3

Y Given x, y,  , find 1 , 2 , 3
l3

l2 3 Let x  x  l3c  l1c1  l2c1 2

l1 2 y  y  l3 s  l1s1  l2 s1 2
X
1   1   2  3

14
 Example 3DOF: Inverse kinematics
x  x  l3c  l1c1  l2c1 2
3 DOF Serial Manipulator
y  y  l3s  l1s1  l2 s1 2
  1   2  3

( x  l3c ) 2  ( y  l3s ) 2  l12  l22

Y c2  , s 2   1  c 22
2l1l2
l3
 2  A tan 2(s 2 ,c 2 )
l2 3
l1 2 Let , k1  l1  l2c2 , k 2  l2 s2
X
1 1  A tan 2( y, x)  A tan 2(k2 , k1 )

 3    (1   2 )

15
Example in Matlab: 3DOF manipulator
The initial and final velocity of the end effector is zero

( x1 , y1  1 ) Defining trajectory in joint space ( x2 , y 2   2 )

Find the initial joint 3rd order polynomial Find the initial joint position
position Using Using inverse kinematic
inverse kinematic Need to define for each joint
Joint space Scheme: Path with
via points
Joint space Scheme: Path with via points 𝜃(𝑜)

𝑈 (𝑜) Initial position/

3rd order polynomial
orientation
𝜃(𝑣 )

Inverse kinematics
𝑈 (𝑣 ) Via point 3rd order polynomial

IK for initial, via and 𝜃( 𝑓 )

𝑈(𝑓 ) final
position final configuration
Joint space
/orientation
Task Space • Velocity at via point wont be
zero
Cubic polynomial for a path with via point

• Multiple sub trajectories can be used, however,

The manipulator come to rest at each via point
• Usually, it is desired to pass thought a via
point without stopping.

• The joint velocities at via point are known

by using inverse Jacobian. Accordingly, the
velocity constraint will be