Time-optimal trajectory planning for manipulators based on trust-region algorithm

XIAO Wen-hao; BAI Rui-lin; XU Fan; YAN Wen-cai

doi:10.13873/j.1000-97872013.06.034

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Time-optimal trajectory planning for manipulators based on trust-region algorithm

更新时间：2025-09-11

- Time-optimal trajectory planning for manipulators based on trust-region algorithm
- Vol. 32, Issue 6, Pages: 77-80(2013)
- 作者机构：
  
  江南大学轻工过程先进控制教育部重点实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872013.06.034
  CLC： TP242
- Published：2013
- 稿件说明：
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[1]肖文皓,白瑞林,许凡,闫文才.基于信赖域算法的机械臂时间最优轨迹规划[J].传感器与微系统,2013,32(06):77-80.

XIAO Wen-hao, BAI Rui-lin, XU Fan, et al. Time-optimal trajectory planning for manipulators based on trust-region algorithm[J]. 2013, 32(6): 77-80.
[1]肖文皓,白瑞林,许凡,闫文才.基于信赖域算法的机械臂时间最优轨迹规划[J].传感器与微系统,2013,32(06):77-80. DOI： 10.13873/j.1000-97872013.06.034.

XIAO Wen-hao, BAI Rui-lin, XU Fan, et al. Time-optimal trajectory planning for manipulators based on trust-region algorithm[J]. 2013, 32(6): 77-80. DOI： 10.13873/j.1000-97872013.06.034.

摘要

为了提高机械臂的工作效率

提出了一种新的时间最优轨迹规划方法。通过逆运动学运算得到与任务空间轨迹对应的关节空间位置序列

采用7次B样条曲线构造关节空间插值轨迹

将运动学约束转换为对B样条轨迹曲线控制顶点的约束

并适当放大约束条件

然后采用信赖域方法求解时间优化问题

从而规划出速度、加速度和脉动均连续且满足运动学约束的时间最优轨迹。仿真结果验证了所提出时间最优轨迹规划方法的有效性。

Abstract

To improve working efficiency of manipulators

a new time-optimal trajectory planning method is proposed.Series of joint space position corresponding to trajectory in task space are obtained by inverse kinematics operation

and B-splines curves of seven times are used to construct interpolate trajectory of joint space.By converting kinematic constraints to constraints on control points of B-splines trajectory curve

and properly relax constraints

time optimization problem are solved by using trust region method

and then time-optimal and velocity

acceleration and jerk continuous trajectories which satisfy kinematic constraints are planned.Simulation results demonstrate the proposed optimal trajectory planning method is effective.

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references

两种求解机械手最短时间动作路径规划的新算法及其在基于PVR技术的控制平台上的实现（英文） [J]. 罗熊,樊晓平. 控制理论与应用 . 2003(05)

工业机器人时间最优轨迹规划及轨迹控制的理论与实验研究(英文) [J]. 谭冠政,王越超. 控制理论与应用 . 2003(02)

机械手时间最优轨迹规划方法研究 [J]. 杨国军,崔平远. 中国机械工程 . 2002(20)

An evolutionary approach for time optimal trajectory planning of a robotic manipulator [J] . Young Dae Lee,Beom Hee Lee,Han Gyoo Kim. Information Sciences . 1999 (3)

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