The paper presents a global optimization approach to the trajectory planning problem of mechanical manipulators. The purpose is to obtain a minimum-time cubic spline trajectory subject to constraints given by limited joint torques and torque derivatives taking into account the non-linear manipulator dynamics. It is shown how, without conservativeness, a semi-infinite optimization problem emerges. Conditions ensuring that the formalized problem admits a solution are given. The estimated global solution can be actually obtained by means of an hybrid genetic/interval algorithm that guarantees the feasibility of the found solution. The methodology is illustrated with numerical details for a two-link planar arm and a PUMA six-link manipulator; for the former, comparisons with an alternative optimization solver are exposed.

Minimum-time trajectory planning of mechanical manipulators under dynamic constraints / GUARINO LO BIANCO, Corrado; Piazzi, Aurelio. - In: INTERNATIONAL JOURNAL OF CONTROL. - ISSN 0020-7179. - 75, NO. 13:(2002), pp. 967-980. [10.1080/00207170210156161]

Minimum-time trajectory planning of mechanical manipulators under dynamic constraints

GUARINO LO BIANCO, Corrado;PIAZZI, Aurelio
2002-01-01

Abstract

The paper presents a global optimization approach to the trajectory planning problem of mechanical manipulators. The purpose is to obtain a minimum-time cubic spline trajectory subject to constraints given by limited joint torques and torque derivatives taking into account the non-linear manipulator dynamics. It is shown how, without conservativeness, a semi-infinite optimization problem emerges. Conditions ensuring that the formalized problem admits a solution are given. The estimated global solution can be actually obtained by means of an hybrid genetic/interval algorithm that guarantees the feasibility of the found solution. The methodology is illustrated with numerical details for a two-link planar arm and a PUMA six-link manipulator; for the former, comparisons with an alternative optimization solver are exposed.
2002
Minimum-time trajectory planning of mechanical manipulators under dynamic constraints / GUARINO LO BIANCO, Corrado; Piazzi, Aurelio. - In: INTERNATIONAL JOURNAL OF CONTROL. - ISSN 0020-7179. - 75, NO. 13:(2002), pp. 967-980. [10.1080/00207170210156161]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11381/1454787
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