A Collision-Free Trajectory Generation of a Manipulator with Dynamic Constraints by Using Complex Method.
Hiroaki Ozaki, Chang-jun Lin · Journal of the Robotics Society of Japan · 1997
In this paper we propose the algorithm of collision-free trajectory generation which describes the joint trajectories of a manipulator by B-spline curves and optimizes the value of these control points using the Complex Method under full dynamic and kinematic constraints. The algorithm has the following advantages: (1) It is extremely concise and applicable to the problem of a multi-degrees of freedom manipulator with the complex constraints caused by obstacles, kinematics, and dynamics; (2) It can generate trajectories while taking the priority of the constraints into account; (3) Weighting factors of the performance indices corresponding to the constrains are computed automatically; (4) It needs less memory for storing the generated trajectories. Simulation results are also shown for the trajectory generation of a three degrees of freedom manipulator.