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Lecture 8 - Trajectory Planning

This document discusses trajectory planning for industrial robots. It begins by defining path and trajectory, with trajectory accounting for timing of movements between configurations. It describes the differences between joint-space and Cartesian-space descriptions. The basics of trajectory planning are then covered, including examples of joint-space and Cartesian space movements between two points with considerations for acceleration/deceleration profiles and ensuring robots pass through via points. Joint-space and Cartesian space trajectory planning techniques are then explored in more detail.

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mohameed ahmed
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54 views

Lecture 8 - Trajectory Planning

This document discusses trajectory planning for industrial robots. It begins by defining path and trajectory, with trajectory accounting for timing of movements between configurations. It describes the differences between joint-space and Cartesian-space descriptions. The basics of trajectory planning are then covered, including examples of joint-space and Cartesian space movements between two points with considerations for acceleration/deceleration profiles and ensuring robots pass through via points. Joint-space and Cartesian space trajectory planning techniques are then explored in more detail.

Uploaded by

mohameed ahmed
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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LECTURE 8

Industrial Robotics

Dr. Shady A. Maged


Trajectory Planning
1 INTRODUCTION

 Path and trajectory planning means the way that a robot is


moved from one location to another in a controlled manner.

 The sequence of movements for a controlled movement between


motion segment, in straight-line motion or in sequential motions.

 It requires the use of both kinematics and dynamics of robots.


Trajectory Planning

2 PATH VS. TRAJECTORY


 Path: A sequence of robot configurations in a particular order
without regard to the timing of these configurations.

 Trajectory: It concerned about when each part of the path must


be attained, thus specifying timing.

Fig. 5.1 Sequential robot movements in a path.


Trajectory Planning

3 JOINT-SPACE VS. CARTESIAN-SPACE DESCRIPTIONS


 Joint-space description:
- The description of the motion to be made by the robot by its joint values.
- The motion between the two points is unpredictable.
 Cartesian space description:
- The motion between the two points is known at all times and controllable.
- It is easy to visualize the trajectory, but is is difficult to ensure that
singularity.

Fig. 5.3 Cartesian-space trajectory (a) The trajectory specified in


Fig. 5.2 Sequential motions of a robot Cartesian coordinates may force the robot to run into itself, and (b)
to follow a straight line. the trajectory may requires a sudden change in the joint angles.
Trajectory Planning

4 BASICS OF TRAJECTORY PLANNING


 Let’s consider a simple 2 degree of freedom robot.
 We desire to move the robot from Point A to Point B.
 Let’s assume that both joints of the robot can move at the maximum
rate of 10 degree/sec.

 Move the robot from A to B, to run both joints


at their maximum angular velocities.
 After 2 [sec], the lower link will have finished its
motion, while the upper link continues for another
3 [sec].
 The path is irregular and the distances traveled
Fig. 5.4 Joint-space nonnormalized movements
of a robot with two degrees of freedom.
by the robot’s end are not uniform.
Trajectory Planning

4 BASICS OF TRAJECTORY PLANNING


 Let’s assume that the motions of both joints are normalized by a
common factor such that the joint with smaller motion will move
proportionally slower and the both joints will start and stop their
motion simultaneously.

 Both joints move at different speeds, but move


continuously together.
 The resulting trajectory will be different.

Fig. 5.5 Joint-space, normalized movements


of a robot with two degrees of freedom.
Trajectory Planning

4 BASICS OF TRAJECTORY PLANNING


 Let’s assume that the robot’s hand follow a known path between point
A to B with straight line.
 The simplest solution would be to draw a line between points A and B,
so called interpolation.

 Divide the line into five segments and solve for


necessary angles  and  at each point.
 The joint angles are not uniformly changing.

Fig. 5.6 Cartesian-space movements of


a two-degree-of-freedom robot.
Trajectory Planning
4 BASICS OF TRAJECTORY PLANNING
 Let’s assume that the robot’s hand follow a known path between point A to B with straight line.
 The simplest solution would be to draw a line between points A and B, so called interpolation.

 It is assumed that the robot’s actuators are


strong enough to provide large forces necessary
to accelerate and decelerate the joints as needed.
 Divide the segments differently.
 The arm move at smaller segments as we speed up at
the beginning.
 Go at a constant cruising rate.
 Decelerate with smaller segments as approaching
point B.
Fig. 5.7 Trajectory planning with an
acceleration-deceleration regiment.
Trajectory Planning

4 BASICS OF TRAJECTORY PLANNING


 Next level of trajectory planning is between multiple points for
continuous movements.
 Stop-and-go motion create jerky motions with unnecessary stops.
 Blend the two portions of the motion at point B.
 Specify two via point D and E before and after point B

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.
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JOINT-SPACE
TRAJECTORY PLANNING
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Joint-space trajectory planning


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Joint-space trajectory planning


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Joint-space trajectory planning


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Joint-space trajectory planning


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Joint-space trajectory planning


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Joint-space trajectory planning


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Joint-space trajectory planning


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Joint-space trajectory planning


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Joint-space trajectory planning


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Joint-space trajectory planning


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Joint-space trajectory planning


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Joint-space trajectory planning


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Joint-space trajectory planning


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CARTESIAN SPACE
TRAJECTORIES
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Cartesian Space trajectories


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Cartesian Space trajectories


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Cartesian Space trajectories


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Cartesian Space trajectories


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Cartesian Space trajectories


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Cartesian Space trajectories

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