System Theory

Download On-Line Trajectory Generation in Robotic Systems: Basic by Torsten Kröger PDF

By Torsten Kröger

This monograph makes a speciality of sensor integration in robotics, particularly in robot manipulation keep an eye on platforms. We think of a mechanical procedure with a number of levels of freedom outfitted with a number of sensors supplying electronic and/or analog sensor indications. there isn't any query that sensor integration and sensor-based regulate belong to the dominating domain names for the long run development of robot structures. even supposing there was a lot study in this aim, there's nonetheless one vital query that has now not been spoke back but: If we reflect on a robotic in an arbitrary nation of movement, how do we calculate a trajectory, if we need the robotic to react immediately to unexpected sensor events?

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Sixth-order polynomials are used to represent the trajectory, which is called arbitrary states polynomiallike trajectory (ASPOT). The major drawback of this work is that neither kinematic nor dynamic constraints can be regarded for on-line trajectory generation, such that this method cannot be applied in practice. In a work from 2005, Chwa, Kang, and Choi [56] presented an advanced visual servo control system, whose purpose is to intercept fast and arbitrarilymoving objects with a robot. The proposed on-line trajectory planner considers the system dynamics of a two-link planar robot and works in two DOFs.

Not only the minimum time criterion is applied but also a further function representing the distance between the robot and its environment is taken into account. Hence, the aim is to find a compromise trajectory represented by cubic splines that minimizes the execution time and that maximizes the distance to the environment. Constantinescu and Croft [61] suggest a further improvement to the approach of Shiller and Lu [234, 236, 237] in the year 2000. The additional limitation of the derivative of actuator forces/torques leads to a limitation of the jerk in joint space and thus to smoother trajectories with better following behavior.

The difference between these latter two modules is Fig. 3 Abstract control scheme of a hybrid switched-system for one single DOF, that is, one single actuator. The dotted vertical lines will be explained in Sec. 5 (p. 30). 4 State of the Art in Robotics Research 25 that the velocity controller does not consider target positions and only leads a single DOF to a certain velocity under given acceleration and/or jerk (additionally also the derivative of the jerk) constraints. Therefore, it is of a much simpler manner than the open-loop position controller.

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