Global minimum-jerk trajectory planning of robot manipulators

Global minimum-jerk trajectory planning of robot manipulators

A new approach based on interval analysis is developed to find the global minimum-jerk (MJ) trajectory of a robot manipulator within a joint space scheme using cubic splines. MJ trajectories are desirable for their similarity to human joint movements and for their amenability to path tracking and to limit robot vibrations. This makes them attractive choices for robotic applications, in spite of...

Global Minimum-Jerk Trajectory Planning of Space Manipulator

A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance ...

Global trajectory planning for fault tolerant manipulators

Whether a task can be completed after a failure of one of the degrees-of-freedom of a redundant manipulator depends on the joint angle at which the failure takes place. It is possible to achieve fault tolerance by globally planning a trajectory that avoids unfavorable joint positions before a failure occurs. In this paper, we present a trajectory planning algorithm that guarantees fault toleran...

Global minimum-time trajectory planning of mechanical manipulators using interval analysis

The paper addresses the global minimum-time trajectory planning of an m-joint mechanical manipulator. Using a joint space scheme with given intermediate points to be interpolated by piecewise cubic polynomials, a novel bisecting-plane algorithm is proposed to schedule the times between adjacent knots under velocity, acceleration, and jerk constrain ts . This algorithm, which is proved to be glo...

Trajectory Planning and Control of Industrial Robot Manipulators