52. Trajectory Planning
52. Trajectory Planning
Quang-Cuong Pham: School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
Quang-Cuong Pham: School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
52.1 Introduction
52.2 Path and Trajectory Planning
Important Concepts
Path Planning Under Geometric Constraints
Trajectory Planning Under Kinodynamic Constraints
52.3 Path and Trajectory Optimization
Minimizing Path Length
Minimizing Trajectory Duration
52.4 Summary, References
Abstract
Trajectory planning consists in finding a time series of successive joint angles that allows moving a robot from a starting configuration towards a goal configuration, in order to achieve a task, such as grabbing an object from a conveyor belt and placing it on a shelf. This trajectory must respect given constraints: for instance, the robot should not collide with the environment; the joint angles, velocities, accelerations, or torques should be within specified limits, etc. Next, if several trajectories are possible, one should choose the one that optimizes a certain objective, such as the trajectory execution time or energy consumption. This chapter reviews methods to plan trajectories with constraints and optimization objectives relevant to industrial robot manipulators.