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Trajectory Planning

Originally prepared by: Prof Engr Dr Ishkandar Baharin Head of Campus & Dean UniKL MFI

Path and Trajectory Planning

Path and trajectory planning is the way that a robot is moved from one location to another in a controlled manner. It requires the use of both kinematics and dynamics of robots. Path : A sequence of robot configurations in a particular order without regard to the timing of these configurations. It concerned about when each part of the path must be attained in a certain constraint, thus specifying timing.

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Trajectory:

Here the robot configuration is more important than the speed.

Sequential robot movements in a path

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JOINT-SPACE VS. CARTESIAN-SPACE DESCRIPTIONS Joint-space description: - The description of the motion to be made by the robot by its joint values. - The motion between the two points is unpredictable. Cartesian space description: - The motion between the two points is known at all times and controllable. - It is easy to visualize the trajectory, but is difficult to ensure that singularity.

Sequential motions of a robot to follow a straight line

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Problem: A robot must not harm itself !!! Cartesian-space trajectory (a) The trajectory specified in Cartesian coordinates may force the robot to run into itself, and (b) the trajectory may requires a sudden change in the joint angles.

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Joint-space non-normalized movements of a robot with two degrees of freedom. Move the robot from A to B, to run both joints at their maximum angular velocities. After 2 [sec], the lower link will have finished its motion, while the upper link continues for another 3 [sec]. The path is irregular and the distances traveled by the robots end are not uniform.

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Joint-space, normalized movements of a robot with two degrees of freedom.

Both joints move at different speeds, but move continuously together. The resulting trajectory will be different.

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Cartesian-space movements of a two-degree-of-freedom robot. Divide the line into five segments and solve for necessary angles and at each point. The joint angles are not uniformly changing.

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Trajectory planning with an acceleration-deceleration regiment.

It is assumed that the robots actuators are strong enough to provide large forces necessary to accelerate and decelerate the joints as needed. Divide the segments differently. The arm move at smaller segments as we speed up at the beginning. Go at a constant cruising rate Decelerate with smaller segments as approaching point B.

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Trajectory Planning It is a planning of how to move an object from its initial location to the final location in the work space with a consideration of time, i.e. it describes the positions, orientations, linear velocities, angular velocities and accelerations of the joint movements. There are generally two types of trajectory planning: Polynomial trajectories Polynomial trajectories via points - workspace without obstacles - workspace with obstacles

Polynomials Trajectories If there is no obstacle in the work-space, the trajectory for a robot manipulator can be easily planned using the specified initial position, initial velocity, final position and final velocity in the joint space. We may use inverse kinematics and motion kinematics to find the corresponding information of all joints in the joint space. Generally, we can use third-order (cubic) polynomial function as the position trajectory.

Trajectory Path Planning using Polynomial Equations (Note: This is in joint space). Consider a single-link robot manipulator with rotary joint. Design a trajectory with the following two cubic segments: The first segment connects the initial angular position (0) = 100 to the via point (1) = 50, and the second segment connects the via point (1) = 50 to the final angular position (2) = 500. The designed trajectory should have zero initial velocity and zero final velocity. Also, at the via point (1) = 50, the trajectory should have continuous velocity and acceleration. First, we use the following two cubic polynomials as the candidates of the two trajectory segments:
(1) (1) 2 (1) 3 (1) (t ) = a0 + a1(1)t + a2 t + a3 t
(2) (2) (2) (2) (t ) = a0 + a1(2) (t 1) + a2 (t 1) 2 + a3 (t 1)3

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for

0 t 1
1 t 2

for

& (t ) = a (1) + 2a (1)t + 3a (1)t 2 (1) 1 2 2

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for

0 t 1 0 t 1
1 t 2

&& (t ) = 2a (1) + 6a (1)t (1) 2 3

(2) (2) &(2) (t ) = a1(2) + 2a2 (t 1) + 3a3 (t 1) 2

for for

&& (t ) = 2a (2) + 6a (2) (t 1) (2) 2 3

for

1 t 2

The constraints of the trajectory, from the question, are listed as follow:

(1) (0) = 100 ,&(1) (0) = 0, (1) (1) = 50 ,

&& (1) = && (1) (2) (0) = 50 ,&(1) (1) = &(2) (1), (1) (2) && (2) = 0 (2) (2) = 500 , (2)

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Using the constraints in the two cubic polynomials and their derivatives, we obtain the following equations:
(1 ) = 10 a0

a 1(1 ) = 0
(1 ) (1 ) (1 ) + a 1(1 ) + a 2 + a3 = 5 a0 (2) = 5 a0 (1 ) (1 ) + 3a3 a 1( 2 ) = a 1(1 ) + 2 a 2 (2) (1 ) (1 ) = 2a2 + 6 a3 2a2 (2) (2) (2) + a 1( 2 ) + a 2 + a3 = 50 a0 (2) (2) + 3a3 = 0 a 1( 2 ) + 2 a 2

Solving the above 8 equations, we obtain the polynomial parameters as follow:

(1) a0 = 10

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a1(1) = 0
(1) = 45 a2 (1) = 40 a3 (2) =5 a0

a1(2) = 30
(2) = 75 a2 (2) = 60 a3

Therefore, the detailed expressions of the two cubic segments are:

(1) (t ) = 10 45t 2 + 40t 3

(2) (t ) = 5 + 30(t 1) + 75(t 1)2 60(t 1)3

0 t 1

1 t 2

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And the velocity profiles and the acceleration profiles of the two trajectory segments are also given below:

& (t ) = 90t + 120t 2 (1)

&& (t ) = 90 + 240t (1)

for for

0 t 1

0 t 1

& (t ) = 30 + 150(t 1) 180(t 1) 2 (2)

&& (t ) = 150 360(t 1) (2)

for for

1 t 2

1 t 2

Homework
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Study the chapter on Trajectory Planning, chapter 7. Try to understand and follow the examples given, Ex 7.2-1, 7.3-1, 7.3-2. Try out the exercises by yourself. Read and understand the reference slides given.