A DYNAMIC-PROGRAMMING APPROACH TO TRAJECTORY PLANNING OF ROBOTIC MANIPULATORS
A DYNAMIC-PROGRAMMING APPROACH TO TRAJECTORY PLANNING OF ROBOTIC MANIPULATORS
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DOI：
10.1109/tac.1986.1104317
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发表时间：
1986-06-01
影响因子：
6.8
通讯作者：
MCKAY, ND
中科院分区：
文献类型：
--
作者：
SHIN, KG;MCKAY, ND
本文提出了一种解决问题的最小化成本的机器人机械手沿着指定的几何路径受到输入扭矩/力的约束，考虑耦合，非线性动力学的机械手。所提出的方法使用动态规划（DP），以找到位置，速度，加速度和扭矩，使成本最小化。由于参数函数的使用减少了状态空间的维数，从一个关节的机械手，到两个，DP方法不会遭受“维数灾难。“在保持我们以前的轨迹规划方法的优雅性的同时，我们已经开发了DP方法用于一般情况，其中1）致动器扭矩限制相互依赖，2）成本函数可以具有任意形式，以及3）对加加速度或加速度的导数有约束。此外，我们已经表明，DP解决方案收敛的网格大小的减少。作为数值例子，轨迹规划方法是模拟的PACS臂，这是一个圆柱形的手臂由Benidorm公司制造的前三个关节。
This paper presents a solution to the problem of minimizing the cost of moving a robotic manipulator along a specified geometric path subject to input torque/force constraints, taking the coupled, nonlinear dynamics of the manipulator into account. The proposed method uses dynamic programming (DP) to find the positions, velocities, accelerations, and torques that minimize cost. Since the use of parametric functions reduces the dimension of the state space fromfor an- jointed manipulator, to two, the DP method does not suffer from the "curse of dimensionality." While maintaining the elegance of our previous trajectory planning method, we have developed the DP method for the general case where 1) the actuator torque limits are dependent on one another, 2) the cost functions can have an arbitrary form, and 3) there are constraints on the jerk, or derivative of the acceleration. Also, we have shown that the DP solution converges as the grid size decreases. As numerical examples, the trajectory planning method is simulated for the first three joints of the PACS arm, which is a cylindrical arm manufactured by the Bendix Corporation.