Optimal Motion Trajectory Generation and Real-Time Trajectory Modification for an Industrial Robot Working in a Rectangular Space
Naoki Uchiyama, Kazunori Mori, Kazuhiko Terashima, Toru Saeki, Toshio Kamigaki, Hirotoshi Kawamura · Journal of System Design and Dynamics · 2013
This paper considers the time-optimal motion and obstacle avoidance trajectory generation for industrial robots.Although there are many previous works that had a similar objective, the generation of the trajectory for a general type of robot is still challenging because high computation time is required.This research focuses on a common type of robot that has a simple structure and moving environment.This limitation allows us to generate the trajectory in a much simpler and practical manner.In addition, oscillation suppression can be considered in the trajectory generation in the proposed approach.The real-time modification of the optimal trajectory is often required from a practical point of view.To avoid the recalculation of the trajectory that requires high computation time, we propose a real-time modification method of the trajectory.Simulation and experimental results demonstrate the effectiveness of the proposed methods.