A Kinematically Constrained Reparameterization Approach to Optimal Time and Jerk Motion of Industrial Machines
A Kinematically Constrained Reparameterization Approach to Optimal Time and Jerk Motion of Industrial Machines
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DOI：
10.1109/access.2021.3095847
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发表时间：
2021
期刊：
影响因子：
3.9
通讯作者：
Min Set Paing;Enock William Nshama;N. Uchiyama
中科院分区：
文献类型：
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作者：
Min Set Paing;Enock William Nshama;N. Uchiyama
现代工业日益增长的需求要求使用工业机器来执行具有复杂轮廓的各种任务。任务通常是由一组运动轨迹通过点给出的，因此需要对轨迹进行几何路径表示和关于时间的适当的重新参数化。本文提出了一种运动学约束的重新参数化方法，通过建立时间和挺度的最优控制问题来生成轨迹。为了保证轨迹的光滑性，B-Spline同时采用了几何路径生成和轨迹重构两种方法。提出了满足轴向运动极限的不等式约束，并引入等式约束以确保轨迹起点和终点的速度和加速度为零。时间和抖动之间的权衡被描述为一个双目标优化问题。此外，采用分而治之的归一化法线约束方法生成具有重要折衷的Pareto阵面。随后，选择最佳的权衡解决方案。对几种几何轮廓进行了仿真研究，实验结果验证了该方法的有效性。
The increasing demands of a modern industry require the usage of industrial machines to perform various tasks with complex profiles. Tasks are usually given by a set of motion trajectory via-points; thus the geometric path representation and the proper reparameterization of the trajectory with respect to time are necessary. This study presents a kinematically constrained reparameterization approach for generating the trajectory by formulating an optimal control problem for time and jerk. Both geometric path generation and trajectory reparameterization are adopted by B-splines to ensure the trajectory smoothness. Inequality constraints are proposed to satisfy the axial kinematic limits, and equality constraints are included to ensure zero velocity and acceleration at the start and end of the trajectory. The trade-off between time and jerk is formulated as a bi-objective optimization problem. Moreover, the normalized normal constraint method with divide and conquer algorithm is applied to generate a Pareto front with significant trade-offs. Subsequently, the best trade-off solution is chosen. The proposed method is investigated by simulation with several geometric profiles, and the effectiveness is validated with an experimental result.