Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 140, Issue -, Pages -Publisher
ELSEVIER
DOI: 10.1016/j.robot.2021.103744
Keywords
Robotic system; Time-optimal trajectory planning; Convex optimization; Torque limits; Jerk limits
Funding
- National Natural Science Foundation of China [51975098]
- Liaoning Revitalization Talents Program, China [XLYC1907006, XLYCYSZX1901, XLYC1801008]
- Science and Technology Innovation Fund of Dalian, China [2018J12GX038, 2019CT01]
- Fundamental Research Funds for the Central Universities, China
Ask authors/readers for more resources
This study introduces a new convex optimization approach for time-optimal trajectory planning that effectively restrains acceleration mutation and addresses torque and jerk limits by reasonably increasing computation time. The proposed method can reduce joint jerk values by over 80% and produce smoother joint torque curves compared to a similar method.
In this study, a new convex optimization (CO) approach to time-optimal trajectory planning (TOTP) is described, which considers both torque and jerk limits. The key insight of the approach is that the non-convex jerk limits are transformed to linear acceleration constraints and indirectly introduced into CO as the linear acceleration constraints. In this way, the convexity of CO will not be destroyed and the number of optimization variables will not increase, which give the approach a fast computation speed. The proposed approach is implemented on random geometric path of a 6-DOF manipulator. Compared with a similar method, the results show that the torque and jerk limits are addressed by a reasonable increase in the computation time. In addition, the maximum value of joint jerk reduces by over 80% and the joint torque curves are smoother in the comparison, which demonstrates that this approach has the ability to effectively restrain acceleration mutation. (C) 2021 Elsevier B.V. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available