期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 47, 期 1, 页码 140-149出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/41.824136
关键词
global optimization; interval algorithm; manipulator trajectory planning; minimum jerk
A new approach based on interval analysis is developed to find the global minimum-jerk (MJ) trajectory of a robot manipulator within a joint space scheme using cubic splines. MJ trajectories are desirable for their similarity to human joint movements and for their amenability to path tracking and to limit robot vibrations. This makes them attractive choices for robotic applications, in spite of the fact that the manipulator dynamics is not taken into account. Cubic splines are used in a framework that assures overall continuity of velocities and accelerations in the robot movement, The resulting MJ trajectory planning is shown to be a global constrained minimax optimization problem. This is solved by a newly devised algorithm based on interval analysis and proof of convergence with certainty to an arbitrarily good global solution is provided. The proposed planning method is applied to an example regarding a six-joint manipulator and comparisons with an alternative MJ planner are exposed.
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