r R B
ROBOTICS AND CONTROL SYSTEMS
Code: 20EC4701
Sem: VII
D
Scheme: 60 – 40
Module- 4 : Trajectory Planning
Dr. Rupam Bhaduri
Professor (Research & Academics)
School of Engineering (SoE)
By Dr. R. Bhaduri
Dayananda Sagar University (DSU), Bangalore
11
B
Basics concepts
R
1. The end-effector of the manipulator is required to move in a particular fashion to accomplish a
r
specified task.
2. Previously, discussion on the mathematical models for geometric, kinematic, static, and dynamic
behaviour of mechanical manipulators have been done
D
3. The execution of the specific task requires the manipulator to follow a pre-planned path, which is
the larger problem of motion or trajectory planning and motion control for the manipulator.
4. The goal of trajectory planning is to describe the requisite motion of the manipulator as a time
sequence of joint / link / end-effector locations and derivatives of locations, which are generated
by "interpolating' or, "approximating' the desired path by a polynomial function.
5. These time base sequence locations, also called time law or time history, obtained from the
trajectory planning serve as reference input or "control set points" to the manipulator's control
system.
6. The user usually defines the desired trajectory by a number of parameters. A polynomial
function is identified to "approximate" the trajectory. The trajectory planning consists of
generating a time sequence of values of different parameters attained by the polynomial
interpolating the trajectory.
By Dr. R. Bhaduri
2
B
DEFINITIONS AND PLANNING TASKS
R
1. TheFig.7.1 shows the parameters involved in the
r
trajectory-planning problem
D
By Dr. R. Bhaduri
3
R B
1. Terminologies :-
r
(i) Path: A path is the locus of points (either in the joint space or in the
Cartesian space) to be traversed by the manipulator to execute the specified
task. A path is a purely geometric (spatial) description of the motion.
D
(ii) Trajectory: A trajectory is a path with specified qualities of motion, that
is, a path on which a time law is specified in terms of velocities and/or
accelerations at each point. In other words, a trajectory is the time sequence
(or time history) of position, velocity, and acceleration for each joint or, end-
effector. A trajectory is both a spatial and temporal representation of motion.
It can be specified either in joint space or in Cartesian space.
(iii) Knot Points or Via Points: Knot points or via points or interpolation
points are the set of intermediate locations between the start and goal points
on the trajectory through which the manipulator must pass enroute to the
destination.
By Dr. R. Bhaduri
4
B
DEFINITIONS AND PLANNING TASKS
R
(iv) Spline: It is the smooth function that passes through the set of via points
r
(v) Joint Space Trajectory Planning: In joint space trajectory planning each path
point is specified in terms of a desired position and orientation of the end-effector
frame relative to the base frame. Each of these points is converted into a set of
D
desired joint positions by application of inverse kinematics. A smooth function is then
found for each of the joints, which passes through these points.
(vi) Cartesian Space Trajectory Planning: In Cartesian space trajectory planning,
the path is explicitly specified in the Cartesian space. The path constraints (velocity,
acceleration, etc.) are specified in Cartesian coordinates
(vii) Trajectory Generation: It is the act of computing the trajectory as a time
sequence of values in real time, using the trajectory planning algorithm based on the
spatial and temporal constraints.
(viii) Path Update Rate: The rate at which the trajectory points are computed at run
time is called path update rate.
By Dr. R. Bhaduri
5
B
Steps in Trajectory Planning
D r R
By Dr. R. Bhaduri
6
B
Contd…….Steps in Trajectory Planning
D r R
By Dr. R. Bhaduri
7
By Dr. R. Bhaduri
D r R B
8
By Dr. R. Bhaduri
D r R B
9
By Dr. R. Bhaduri
D r R B
10
By Dr. R. Bhaduri
D r R B
11
By Dr. R. Bhaduri
D r R B
12
By Dr. R. Bhaduri
D r R B
13
By Dr. R. Bhaduri
D r R B
14
By Dr. R. Bhaduri
D r R B
15
By Dr. R. Bhaduri
D r R B
16
By Dr. R. Bhaduri
D r R B
17
By Dr. R. Bhaduri
D r R B
18
By Dr. R. Bhaduri
D r R B
19
By Dr. R. Bhaduri
D r R B
20
By Dr. R. Bhaduri
D r R B
21
By Dr. R. Bhaduri
D r R B
22
By Dr. R. Bhaduri
D r R B
23
