Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints

This paper proposes a novel trajectory planning algorithm to design an end-effector motion profile along a specified path. An optimization model based on the whale optimization algorithm (WOA) is established for time-optimal asymmetrical S-curve velocity scheduling. Trajectories designed by end-effe...

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Veröffentlicht in:Sensors (Basel, Switzerland) Jg. 23; H. 6; S. 3074
Hauptverfasser: Liu, Tianyu, Cui, Jingkai, Li, Yanhui, Gao, Siyuan, Zhu, Mingchao, Chen, Liheng
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Switzerland MDPI AG 13.03.2023
MDPI
Schlagworte:
Algorithms
Analysis
asymmetric S-curve velocity scheduling
Control algorithms
Efficiency
kinematic constraints
Kinematics
Linear programming
Liu, Timothy
Mathematical optimization
Motion control
Optimization
redundant manipulators
Robots
Scheduling
trajectory planning
Velocity
whale optimization algorithm
whale optimization algorithm
redundant manipulators
asymmetric S-curve velocity scheduling
kinematic constraints
trajectory planning
ISSN:1424-8220, 1424-8220
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Zusammenfassung:This paper proposes a novel trajectory planning algorithm to design an end-effector motion profile along a specified path. An optimization model based on the whale optimization algorithm (WOA) is established for time-optimal asymmetrical S-curve velocity scheduling. Trajectories designed by end-effector limits may violate kinematic constraints due to the non-linear relationship between the operation and joint space of redundant manipulators. A constraints conversion approach is proposed to update end-effector limits. The path can be divided into segments at the minimum of the updated limitations. On each path segment, the jerk-limited S-shaped velocity profile is generated within the updated limitations. The proposed method aims to generate end-effector trajectory by kinematic constraints which are imposed on joints, resulting in efficient robot motion performance. The WOA-based asymmetrical S-curve velocity scheduling algorithm can be automatically adjusted for different path lengths and start/end velocities, allowing flexibility in finding the time-optimal solution under complex constraints. Simulations and experiments on a redundant manipulator prove the effect and superiority of the proposed method.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s23063074