Details
| Original language | English |
|---|---|
| Title of host publication | Informatics in Control, Automation and Robotics |
| Editors | Oleg Gusikhin, Kurosh Madani, Henk Nijmeijer |
| Place of Publication | Cham |
| Pages | 106-131 |
| Number of pages | 26 |
| ISBN (electronic) | 978-3-031-26474-0 |
| Publication status | Published - 23 Feb 2023 |
Publication series
| Name | Lecture Notes in Electrical Engineering |
|---|---|
| Volume | 1006 LNEE |
| ISSN (Print) | 1876-1100 |
| ISSN (electronic) | 1876-1119 |
Abstract
An optimal trajectory for the redundant coordinate for robots in tasks with rotational symmetry such as machining has to be found to ensure good performance and overall feasibility. Due to high nonlinearity of performance criteria especially for parallel robots a sole local optimization may lead to infeasible solutions for large-scale motion. A pointing task consisting of multiple rest-to-rest trajectories with given dense sample times is regarded as given. Constraints regarding system limits on position, velocity and acceleration have to be met. The proposed algorithm combines nullspace projection for local optimization between the rest poses with dynamic programming at the rest poses in a cascaded scheme to optimize the rotation around the tool axis. Applications to other types of redundancy are also possible. The proposed local/global optimization scheme only needs wide discretization of the redundant coordinate and therefore has acceptable computational performance for offline optimization of robot motion. It is able to find feasible and near-optimal trajectories for a six-degree-of-freedom (DoF) parallel robot in several exemplary five-DoF tractories with many constraints.
Keywords
- Dynamic programming, Inverse kinematics, Nullspace projection, Robot manipulator, Task redundancy, Trajectory optimization
ASJC Scopus subject areas
- Engineering(all)
- Industrial and Manufacturing Engineering
Cite this
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Informatics in Control, Automation and Robotics . ed. / Oleg Gusikhin; Kurosh Madani; Henk Nijmeijer. Cham, 2023. p. 106-131 (Lecture Notes in Electrical Engineering; Vol. 1006 LNEE).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Pose Optimization of Task-Redundant Robots in Second-Order Rest-to-Rest Motion with Cascaded Dynamic Programming and Nullspace Projection
AU - Schappler, Moritz
N1 - Funding Information: The author acknowledges the support by the Deutsche Forschungsgemeinschaft (DFG) under grant number 341489206. Matlab Code to reproduce the results is available at GitHub under free license at https://github.com/ SchapplM/robotics-paper icinco2021.
PY - 2023/2/23
Y1 - 2023/2/23
N2 - An optimal trajectory for the redundant coordinate for robots in tasks with rotational symmetry such as machining has to be found to ensure good performance and overall feasibility. Due to high nonlinearity of performance criteria especially for parallel robots a sole local optimization may lead to infeasible solutions for large-scale motion. A pointing task consisting of multiple rest-to-rest trajectories with given dense sample times is regarded as given. Constraints regarding system limits on position, velocity and acceleration have to be met. The proposed algorithm combines nullspace projection for local optimization between the rest poses with dynamic programming at the rest poses in a cascaded scheme to optimize the rotation around the tool axis. Applications to other types of redundancy are also possible. The proposed local/global optimization scheme only needs wide discretization of the redundant coordinate and therefore has acceptable computational performance for offline optimization of robot motion. It is able to find feasible and near-optimal trajectories for a six-degree-of-freedom (DoF) parallel robot in several exemplary five-DoF tractories with many constraints.
AB - An optimal trajectory for the redundant coordinate for robots in tasks with rotational symmetry such as machining has to be found to ensure good performance and overall feasibility. Due to high nonlinearity of performance criteria especially for parallel robots a sole local optimization may lead to infeasible solutions for large-scale motion. A pointing task consisting of multiple rest-to-rest trajectories with given dense sample times is regarded as given. Constraints regarding system limits on position, velocity and acceleration have to be met. The proposed algorithm combines nullspace projection for local optimization between the rest poses with dynamic programming at the rest poses in a cascaded scheme to optimize the rotation around the tool axis. Applications to other types of redundancy are also possible. The proposed local/global optimization scheme only needs wide discretization of the redundant coordinate and therefore has acceptable computational performance for offline optimization of robot motion. It is able to find feasible and near-optimal trajectories for a six-degree-of-freedom (DoF) parallel robot in several exemplary five-DoF tractories with many constraints.
KW - Dynamic programming
KW - Inverse kinematics
KW - Nullspace projection
KW - Robot manipulator
KW - Task redundancy
KW - Trajectory optimization
UR - http://www.scopus.com/inward/record.url?scp=85149837916&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-26474-0_6
DO - 10.1007/978-3-031-26474-0_6
M3 - Conference contribution
SN - 978-3-031-26473-3
T3 - Lecture Notes in Electrical Engineering
SP - 106
EP - 131
BT - Informatics in Control, Automation and Robotics
A2 - Gusikhin, Oleg
A2 - Madani, Kurosh
A2 - Nijmeijer, Henk
CY - Cham
ER -