Optimal Robot Motions for Repetitive Tasks

Daniel J. Simon

doi:10.1109/CDC.1992.371035

Optimal Robot Motions for Repetitive Tasks

Research output: Contribution to journal › Article › peer-review

Abstract

A new method for the planning of robot trajectories is presented. The method assumes that joint-space knots have been generated from Cartesian knots by an inverse kinematics algorithm. The method is based on the globally optimal periodic interpolation scheme derived by Schoenberg, and is particularly suited for periodic robot motions. Of all possible periodic joint trajectories which pass through a specified set of knots, the trajectory derived is the best. The performance criterion used is the integral (over one period) of the square of a combination of the joint velocity and the joint jerk

Original language	American English
Journal	Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Volume	4
DOIs	https://doi.org/10.1109/CDC.1992.371035
State	Published - Dec 1 1992

Keywords

Cartesian knots
Schoenberg splines
globally optimal periodic interpolation
inverse kinematics
joint jerk
joint velocity
joint-space knots
motion control
performance criterion
repetitive tasks
robot
trajectory planning

Disciplines

Electrical and Computer Engineering
Robotics

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10.1109/CDC.1992.371035License: CC BY

http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=371035

Cite this

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title = "Optimal Robot Motions for Repetitive Tasks",

abstract = " A new method for the planning of robot trajectories is presented. The method assumes that joint-space knots have been generated from Cartesian knots by an inverse kinematics algorithm. The method is based on the globally optimal periodic interpolation scheme derived by Schoenberg, and is particularly suited for periodic robot motions. Of all possible periodic joint trajectories which pass through a specified set of knots, the trajectory derived is the best. The performance criterion used is the integral (over one period) of the square of a combination of the joint velocity and the joint jerk",

keywords = "Cartesian knots, Schoenberg splines, globally optimal periodic interpolation, inverse kinematics, joint jerk, joint velocity, joint-space knots, motion control, performance criterion, repetitive tasks, robot, trajectory planning",

author = "Simon, \{Daniel J.\}",

note = "D. Simon. (1992). Optimal Robot Motions for Repetitive Tasks. IEEE Conference on Decision and Control, 4, 3130-3134, doi: 10.1109/CDC.1992.371035.",

year = "1992",

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doi = "10.1109/CDC.1992.371035",

language = "American English",

volume = "4",

journal = "Decision and Control, 1992., Proceedings of the 31st IEEE Conference on",

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AU - Simon, Daniel J.

N1 - D. Simon. (1992). Optimal Robot Motions for Repetitive Tasks. IEEE Conference on Decision and Control, 4, 3130-3134, doi: 10.1109/CDC.1992.371035.

PY - 1992/12/1

Y1 - 1992/12/1

N2 - A new method for the planning of robot trajectories is presented. The method assumes that joint-space knots have been generated from Cartesian knots by an inverse kinematics algorithm. The method is based on the globally optimal periodic interpolation scheme derived by Schoenberg, and is particularly suited for periodic robot motions. Of all possible periodic joint trajectories which pass through a specified set of knots, the trajectory derived is the best. The performance criterion used is the integral (over one period) of the square of a combination of the joint velocity and the joint jerk

AB - A new method for the planning of robot trajectories is presented. The method assumes that joint-space knots have been generated from Cartesian knots by an inverse kinematics algorithm. The method is based on the globally optimal periodic interpolation scheme derived by Schoenberg, and is particularly suited for periodic robot motions. Of all possible periodic joint trajectories which pass through a specified set of knots, the trajectory derived is the best. The performance criterion used is the integral (over one period) of the square of a combination of the joint velocity and the joint jerk

KW - Cartesian knots

KW - Schoenberg splines

KW - globally optimal periodic interpolation

KW - inverse kinematics

KW - joint jerk

KW - joint velocity

KW - joint-space knots

KW - motion control

KW - performance criterion

KW - repetitive tasks

KW - robot

KW - trajectory planning

UR - https://engagedscholarship.csuohio.edu/enece_facpub/177

UR - http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=371035

U2 - 10.1109/CDC.1992.371035

DO - 10.1109/CDC.1992.371035

M3 - Article

VL - 4

JO - Decision and Control, 1992., Proceedings of the 31st IEEE Conference on

JF - Decision and Control, 1992., Proceedings of the 31st IEEE Conference on

ER -

Optimal Robot Motions for Repetitive Tasks

Abstract

Keywords

Disciplines

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