Time-optimal trajectory planning of robot manipulators in point-to-point motion using an indirect method
Time-optimal trajectory planning of robot manipulators in point-to-point motion using an indirect method
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DOI：
10.1177/0954406211415321
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发表时间：
2012-02
期刊：
影响因子：
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通讯作者：
M. H. Ghasemi;Navvab Kashiri;M. Dardel
中科院分区：
文献类型：
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作者：
M. H. Ghasemi;Navvab Kashiri;M. Dardel
本文研究了在力矩和力矩受限的情况下，机器人操作手时间最优点对点控制的迭代计算方法。该方法利用开环最优控制问题的间接解，将最优控制问题转化为非线性两点边值问题(TPBVP)。由于在寻找切换点和求解TPBVP问题上存在许多困难，提出了一种简单的迭代方法。该方法基于求解最小能量问题，不需要寻找切换点。因此，所得到的TPBVP可以用通常的算法来求解。此外，由于TPBVPS的解对初始猜测很敏感，因此介绍了一种进行适当初始猜测的简单方法。此外，由于冗余度机械臂的逆运动学是一个不适定问题，因此考虑了与最终时刻相对应的边界条件的一般形式。此外，对于可能含有奇异圆弧的机械手，所提出的方法对确定时间最优轨迹不敏感。
In this study, an iterative method for computing the time-optimal point-to-point control of robot manipulators is studied, subject to limits on the actuator torques and actuator jerks. This method uses the indirect solution of an open-loop optimal control problem so that the optimal control problem is translated to a non-linear two-point boundary value problem (TPBVP). Since there are many difficulties in finding the switching points and solving the TPBVP, a simple iterative method is proposed. This method is based on solving the minimum-energy problem without the necessity of finding the switching point. So, the resultant TPBVP can be solved using the usual algorithms. In addition, since the solution of the TPBVPs is sensitive to the initial guess, a simple procedure for making proper initial guesses is introduced. Furthermore, since the inverse kinematic of redundant manipulators is an ill-posed problem, the general form for boundary conditions corresponding to the final time is considered. In addition, it is shown that the proposed method has no sensitivity for specifying the time-optimal trajectory of manipulators that may contain singular arcs.