A Third-Order Constrained Approximate Time-Optimal Feedrate Planning Algorithm

Robot end-effector tracking of a specific spatial path to fulfill certain requirements is a topic of great interest. First, considering both dynamic constraints and kinematic constraints, the planned velocity has characteristics of bounded high-order derivatives to ensure smooth motion. Second, to m...

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Vydané v:IEEE transactions on robotics Ročník 38; číslo 4; s. 2295 - 2307
Hlavní autori: Wang, Mingli, Xiao, Juliang, Liu, Sijiang, Liu, Haitao
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: New York IEEE 01.08.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:
Acceleration
Algorithms
Approximate time-optimal
bidirectional scanning
Constraints
End effectors
feedrate planning
Friction
Heuristic algorithms
Kinematics
Mathematical analysis
Planning
Robots
third-order constraints
Torque
Trajectory
Velocity
ISSN:1552-3098, 1941-0468
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Abstract Robot end-effector tracking of a specific spatial path to fulfill certain requirements is a topic of great interest. First, considering both dynamic constraints and kinematic constraints, the planned velocity has characteristics of bounded high-order derivatives to ensure smooth motion. Second, to meet high-efficiency requirements, the feedrate of the end-effector should be planned within the best possible time. Although some studies have shown that they obtained the time-optimal solution by considering the second-order constraints, this is still an open problem for third-order constraints. Therefore, this article proposes an approximate time-optimal feedrate (ATOF) planning algorithm that considers third-order constraints. This algorithm is primarily based on the bidirectional scanning method, which includes two steps. First, we calculate the second-order time-optimal velocity (TOV2) curve under the third-order maximum velocity curve. Then, considering TOV2, we propose an ATOF algorithm that includes single-direction speed planning and speed curve smoothing. It is more practical for not only considering the Coulomb viscous friction and torque rate but also avoiding difficult calculations at the singular point and solves discontinuous joint-acceleration under second-order constraints. Finally, we design two sets of experiments to verify the higher calculation efficiency and effectiveness of the proposed ATOF algorithm.
AbstractList Robot end-effector tracking of a specific spatial path to fulfill certain requirements is a topic of great interest. First, considering both dynamic constraints and kinematic constraints, the planned velocity has characteristics of bounded high-order derivatives to ensure smooth motion. Second, to meet high-efficiency requirements, the feedrate of the end-effector should be planned within the best possible time. Although some studies have shown that they obtained the time-optimal solution by considering the second-order constraints, this is still an open problem for third-order constraints. Therefore, this article proposes an approximate time-optimal feedrate (ATOF) planning algorithm that considers third-order constraints. This algorithm is primarily based on the bidirectional scanning method, which includes two steps. First, we calculate the second-order time-optimal velocity (TOV2) curve under the third-order maximum velocity curve. Then, considering TOV2, we propose an ATOF algorithm that includes single-direction speed planning and speed curve smoothing. It is more practical for not only considering the Coulomb viscous friction and torque rate but also avoiding difficult calculations at the singular point and solves discontinuous joint-acceleration under second-order constraints. Finally, we design two sets of experiments to verify the higher calculation efficiency and effectiveness of the proposed ATOF algorithm.
Author Wang, Mingli
Xiao, Juliang
Liu, Sijiang
Liu, Haitao
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crossref_primary_10_1177_10775463251328135
crossref_primary_10_1109_TRO_2025_3543296
crossref_primary_10_3390_act14060272
crossref_primary_10_1109_TMECH_2023_3234584
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SubjectTerms Acceleration
Algorithms
Approximate time-optimal
bidirectional scanning
Constraints
End effectors
feedrate planning
Friction
Heuristic algorithms
Kinematics
Mathematical analysis
Planning
Robots
third-order constraints
Torque
Trajectory
Velocity
Title A Third-Order Constrained Approximate Time-Optimal Feedrate Planning Algorithm
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