第7章 轨迹规划.ppt

* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * Inside segment: Linear function with parabolic blendsfor a path with via points First segment: Linear function with parabolic blendsfor a path with via points Last segment: Linear function with parabolic blendsfor a path with via points To go through the actual via points: Introduce “Pseudo Via Points” Use sufficiently high acceleration Linear function with parabolic blendsfor a path with via points When path shapes are described in terms of functions of Cartesian position and orientation, we can also specify the spatial shape of the path between path points. The most common path shape is a straight line; but circular, sinusoidal, or other path shapes could be used. Cartesian schemes are more computationally expensive to execute since at run time, inverse kinematics must be solved at the path update rate. 6.3 Cartesian-Space Schemes Description of a task Cartesian-Space Schemes Cartesian straight line motion Move from point Pi to Pi+1 , which described by relative homogenous transformation: Cartesian-Space Schemes In order to ensure continuous velocities in trajectory, a spline of linear functions with parabolic blends is always used. During the linear portion of each segment, since all three components of position change in a linear fashion, the end-effector will move along a linear path in space. Cartesian-Space Schemes Cartesian-Space Schemes Initial (A) and Goal (B) Points are reachable, but intermediate points (C) unreachable. Geometric Problems with Cartesian Path Approaching singularities some joint velocities go to ∞ causing deviation from the path. Geometric Problems with Cartesian Path Start point (A) and goal point (B) are reachable in different joint space solutions (The middle points are reachable from below.) Geometric Problems with Cartesian Path 6.4 Path Generation at Real-Time At run time the path generator routine constructs the trajectory, usually in terms of