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3 views14 pages

ch-7 (1)

Uploaded by

Adem Abdela
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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Manipulator trajectory

a trajectory describes the desired motion of a


manipulator in multidimensional space.
Here, trajectory refers to a time history of
position, velocity, and acceleration for each
degree of freedom.
In the most general case, position, velocity, and
acceleration are computed.
These trajectories are computed on digital
computers,
so the trajectory points are computed at a
certain rate, called the path-update rate.
In typical manipulator systems, this rate lies
between 60 and 2000 Hz.
GENERAL CONSIDERATIONS IN PATH
DESCRIPTION AND GENERATION
For the most part, we will consider motions of a
manipulator as motions of the tool frame, {T},
relative to the station frame, {S}.
This is the same manner in which an eventual
user of the system would think, and designing a
path description and generation system in these
terms will result in a few important advantages.
When we specify paths as motions of the tool
frame relative to the station frame, we decouple
the motion description from any particular
robot, end-effector, or workpieces.
This results in a certain modularity and would
allow the same path description to be used with
a different manipulator
GENERAL CONSIDERATIONS IN PATH
DESCRIPTION AND GENERATION
Further, we can specify and plan motions
relative to a moving workstation by planning
motions relative to the
station frame as always and, at run time,
causing the definition of {S} to be changing
with time.
the basic problem is to move the manipulator
from an initial position to some desired final
position—that is, we wish to move the tool
frame from its current value, to a desired final
value,
Note that, in general, this motion involves
JOINT-SPACE SCHEMES
In this section, we consider methods of
path generation in which the path
shapes (in space and in time) are
described in terms of functions of joint
angles.
Each path point is usually specified in
terms of a desired position and
orientation of the tool frame, {T},
relative to the station frame, {S}.
Each of these via points is "converted"
into a set of desired joint angles by
JOINT-SPACE SCHEMES
Then a smooth function is found for each of the n
joints that pass through the via points and end
at the goal point.
The time required for each segment is the same
for each joint so that all joints reach the via
point at the same time, thus resulting in the
desired Cartesian position of {T} at each via
point.
Other than specifying the same duration for each
joint, the determination of the desired joint
angle function for a particular joint does not
depend on the functions for the other joints.
JOINT-SPACE SCHEMES
Hence, joint-space schemes achieve the
desired position and orientation at the via
points.
In between via points, the shape of the path,
although rather simple in joint space, is
complex if described in Cartesian space.
Joint-space schemes are usually the easiest to
compute, and, because we make no
continuous correspondence between joint
space and Cartesian space, there is
essentially no problem with singularities of
the mechanism.
Cubic polynomials

Consider the problem of moving the tool from its


initial position to a goal position in a certain
amount of time.
Inverse kinematics allow the set of joint angles
that correspond to the goal position and
orientation to be calculated.
The initial position of the manipulator is also
known in the form of a set of joint angles. What
is required is a function for each joint whose
value at T0 is the initial position of the joint and
whose value at Tf is the desired goal position of
that joint.
Cubic polynomials
Two constraints on the function's value come
from the selection of initial and final values:
Cubic polynomials
An additional two constraints are that the
function be continuous in velocity, whichin
this case means that the initial and final
velocity are zero:

These four constraints can be satisfied by a


polynomial of at least third degree. (A cubic
polynomial has four coefficients, so it can be
made to satisfy the four constraints given by
These constraints uniquely specify a
Cubic polynomials
A cubic has the form

so the joint velocity and acceleration along this


path are clearly

Then the four desired constraints yields four


equations in four unknowns:
Cubic polynomials
And we have the equations by
solving the equation below
Higher-order polynomials
Higher-order polynomials are sometimes used for
path segments. For example, if we wish to be able
to specify the position, velocity, and acceleration at
the beginning and end of a path segment, a quintic
polynomial is required,
namely,

where the constraints are given as


Higher-order polynomials
These constraints specify a linear set of six
equations with six unknowns, whose solution is:
Thank you!!

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