Trajectory Planning
Total trajectory time, maximum velocity and Total trajectory time, maximum velocity and
acceleration, velocity and acceleration at points of acceleration, velocity and acceleration at points of
interests interests
Joint Space Trajectory
Inverse
inematics
algorithm
Trajectory
parameters in
operation space
Joint (end-effector)
trajectories in terms of
position, velocity and
acceleration
Trajectory
parameters in
joint space
Trajectory
planning
algorithm
Initial and final
end-effector
location, traveling
time, etc!
Joint Space Trajectory
The generated trajectory e easy to compute The generated trajectory e easy to compute
Position and velocity #acceleration$ e continuous Position and velocity #acceleration$ e continuous
function of time function of time
Point'to'point motion
Point'to'point motion
(oving from an initial to a final joint configuration in (oving from an initial to a final joint configuration in
a given time t a given time t
f f
Point-to-point Motion
)igure *'+ from )u, Gon&ale& and ,ee
#t
f
$
#t
+
$
#t
-
$
#t
.
$
/,ift'off0
/Set'down0
)inal
1nitial
Polynomial interpolation
Polynomial interpolation
Point-to-point Motion
Point-to-point Motion
Six constraints #initial and final position, velocity and Six constraints #initial and final position, velocity and
acceleration acceleration
initial and final position are given initial and final position are given
initial and final velocity are set to &ero initial and final velocity are set to &ero
(aximum velocity and acceleration are given (aximum velocity and acceleration are given
6hat7s the
6hat7s the
minimum
minimum
traveling time8
traveling time8
Path Motion
4well < !ise < !eturn < 4well 4well < !ise < !eturn < 4well
<
initial period of no motion #/dwell0$ initial period of no motion #/dwell0$
<
/ /rise0 to a maximum displacement rise0 to a maximum displacement
<
1mmediately /return0 to origin 1mmediately /return0 to origin
<
final period of no motion #/dwell0$ final period of no motion #/dwell0$
/dwell0
/rise0
/dwell0
Time, t
4isplacement, s s=s
max
, v=-, a-
s=-, v=-, a=-
/return0
s=-, v=-, a=-
;am (otion Profiles ' !!
n
Kx
dx Kx Area
n
x
n
5rea under the curve y=Cx
n
etween x=- and x=x
.
is
9ote that y
.
=Cx
.
n
, so
# #
# # # #
+
n
x y
n
x Kx
Area
n
5ccel2'>el2'4isp2 ?+
Time, sec
5cceleration, 5
>elocity, >
4isplacement, S
T
- -2. -2+ -2A
T
+B m/s
+
>.
>+
>A
S.
S+
SA
)ind numerical values
for >., >+, and >A
)ind numerical values
for S., S+, and SA
Suitale for a /dwell ' rise0
5ccel2'>el2'4isp2 ?A
Time, sec
5cceleration, 5
>elocity, >
4isplacement, S
T
- -2.B -2A
T
+B m/s
+
>.
>+
S.
S+
)ind numerical values
for >. and >+
)ind numerical values
for S. and S+
Suitale for a /dwell ' rise0
5ccel2'>el2'4isp2 ?*
Time, sec
5cceleration, 5
>elocity, >
4isplacement, S
T
- -2. -2+ -2A
T
+B m/s
+
>.
>+
>A
S.
S+
SA
)ind numerical values
for >., >+, and >A
)ind numerical values
for S., S+, and SA
Suitale for a /dwell ' rise0
Time,
sec
5
>
S
T
T
+B m/s
+
>.
>+
>A
S.
S+
SA
)ind numerical values
for >* and >B
)ind numerical values
for S*, SB, and SF
Suitale for a /rise'return0
'+B m/s
+
-2. -2+ -2A
-2* -2B -2F
>B
>*
S*
SB
SF
5nalytical Solution
'
<
+
s dt t v t s
v dt t a t v
t
t
Gint < solve first parts #for tH-2A sec$, find oundary conditions for +
nd
parts
Solve 9umerically
,
_
+ +
m
a a
m
v
m
v
sec) "& ! " ") ! " ( *
sec
) "& ! " ( ) ") ! " (
$
#
) "& ! " ( ) ") ! " (
,
_
+ +
m
v v m s m s
5 9umerical Gimmic:
1nitial position,
1nitial position,
. .
<
initial velocity and acceleration #normally=-$ initial velocity and acceleration #normally=-$
+ +
<
velocity and acceleration must match here velocity and acceleration must match here
Set'down position,
Set'down position,
A A
<
velocity and acceleration must match here velocity and acceleration must match here
)inal position,
)inal position,
f f
<
final velocity and acceleration #normally=-$ final velocity and acceleration #normally=-$
Typical Solution
/
/
*'A'*0 trajectory
*'A'*0 trajectory
M
* *
th th
order polynomial from initial to lift'off order polynomial from initial to lift'off
M
A A
rd rd
order polynomial from lift'off to set'down order polynomial from lift'off to set'down
M
* *
th th
order polynomial from set'down to final order polynomial from set'down to final
/
/
A'B'A0 trajectory
A'B'A0 trajectory
M
same as aove ut A same as aove ut A
rd rd
and B and B
th th
order poly order poly
B'cuic trajectory
B'cuic trajectory
M
;uic splines used for B segments ;uic splines used for B segments
lift'off to set'down split into A segments lift'off to set'down split into A segments
/*'A'*0 Trajectory
.
.
st st
segment:
segment:
+
+
nd nd
segment:
segment:
A
A
rd rd
segment:
segment:
- -
=
=
#t
#t
- -
$ #set
$ #set
t
t
- -
=-$
=-$
+2
+2
1nitial velocity =
1nitial velocity =
- -
#typically
#typically
-$
-$
+2 +2
A2
A2
1nitial acceleration =
1nitial acceleration =
- -
#typically -$
#typically -$
## " #
) " ( a h
#$ " #
$ ) " ( a h
#" " #
) " ( a h
Ooundary ;onditions ?*' ?B
M *2
*2
,ift'off position,
,ift'off position,
#t
#t
. .
$
$
*2 *2
B2
B2
,ift'off position,
,ift'off position,
#t
#t
. .
$
$
#" # ##
$
# #$
&
# #&
)
# #) # # #
) ( ) ( a t a t a t a t a t h t + + + +
( )
$" # $#
$
# $$
&
# $& # $ #
) ( a t a t a t a t h t + + +
Ooundary ;onditions ?*' ?B
M *2
*2
,ift'off position,
,ift'off position,
#t
#t
. .
$
$
*2 *2
B2
B2
,ift'off position,
,ift'off position,
#t
#t
. .
$
$
#" # ##
$
# #$
&
# #&
)
# #) # # #
) ( ) ( a t a t a t a t a t h t + + + +
( )
$" # $#
$
# $$
&
# $& # $ #
) ( a t a t a t a t h t + + +
Ooundary ;onditions ?F' ?I
M
F2
F2
,ift'off velocity match from oth
,ift'off velocity match from oth
sides
sides
+2 +2
I2
I2
,ift'off acceleration match oth
,ift'off acceleration match oth
sides
sides
$# # $$
$
# $& ## # #$
$
# #&
&
# #) # $ # #
$ & $ & ) ) ( ) ( a t a t a a t a t a t a t h t h + + + + +
$$ # $& #$ # #&
$
# #) # $ # #
$ % $ % #$ ) ( ) ( a t a a t a t a t h t h + + +
Ooundary ;onditions ?J' ?K
M J2
J2
Set'down position,
Set'down position,
#t
#t
+ +
$
$
K2
K2
Set'down position,
Set'down position,
#t
#t
+ +
$
$
$" $ $#
$
$ $$
&
$ $& $
) ( a t a t a t a t + + +
&" $ &#
$
$ &$
&
$ &&
)
$ &) $
) ( a t a t a t a t a t + + + +
Ooundary ;onditions ?.- ' ?..
M
.-2 Set'down velocity match from oth
.-2 Set'down velocity match from oth
sides
sides
+2 +2
..2
..2
Set'down acceleration match
Set'down acceleration match
oth sides
oth sides
$# $ $$
$
$ $& &# $ &$
$
$ &&
&
$ &) $ $ $ &
$ & $ & ) ) ( ) ( a t a t a a t a t a t a t h t h + + + + +
$$ $ $& $$ $ $&
$
$ $) $ $ $ &
$ % $ % #$ ) ( ) ( a t a a t a t a t h t h + + +
Ooundary ;onditions ?.+' ?.*
M .+2
.+2
)inal position,
)inal position,
#t
#t
f f
$
$
&$ &&
$
&) &
$ % #$ ) ( a t a t a t h
f f f f
+ +
&" &#
$
&$
&
&&
)
&) &
) ( ) ( a t a t a t a t a t h t
f f f f f f
+ + + +
Solution )ormat
1
1
1
1
1
1
1
1
1
1
1
1
]
1
1
1
1
1
1
1
1
1
1
1
1
1
]
1
f f
t
t
a
a
a
a
a
a
t
t t
t
t t
t
"
"
" #$ " " " "
" ) " & " "
# " " " "
" " " & " )
" " # " "
" " " " # "
$
#
"
&"
&)
$"
$&
#"
#)
)
&
$
$
$
)
$
&
#
&
#
&
#
5fter (atla Solution
#t
#t
- -
$
$
<
(ove the drop'off point closer to
(ove the drop'off point closer to
#t
#t
f f
$
$
(otion Programming ?A
)riday, 3ctoer .K, +--.
)riday, 3ctoer .K, +--.
Plan (otion Program
+
"
,
"
-
"
y
"
"
1
,
#
+
#
"
-
$
a
#
v
v v
v
2
R
a
$
y
$
from
1
1
1
]
1
1
1
1
]
1
#
"
)"
#
y
-
R
"
"
"
cm
cm
to
1
1
1
]
1
1
1
1
]
1
#
&"
)"
#
y
-
R
"
"
cm
cm
f
a
#
. %" cm, a
$
. )" cm,
-
$
. ( cm, y
$
. ( cm
#,ma-
.
$,ma-
. % rad'sec,
#,ma-
.
$,ma-
. $" rad'sec
$
1nverse Cinematics
Turn in solution
Turn in solution
M
will have two groups show solution
will have two groups show solution
%se T = .2- second as a /reasonale0 time
%se T = .2- second as a /reasonale0 time
Straight',ine (otion
6or: in groups of +:
6or: in groups of +: