机器人学基础第章机器人轨迹规划蔡自兴课件.ppt

机器人学基础 第7章 机器人轨迹规划 蔡自兴;Ch.7 Trajectory Planning of Robots ;Ch.7 Trajectory Planning of Robots ;7.1 General Considerations in Trajectory Planning 轨迹规划应考虑的问题;7.1 General Considerations in Trajectory Planning;Joint space Easy to go through via points (Solve inverse kinematics at all path points) No problems with singularities Less calculations Can not follow straight line Cartesian space We can track a shape (for orientation : equivalent axes, Euler angles,…) More expensive at run time (after the path is calculated need joint angles in a lot of points) Discontinuity problems;Cartesian planning difficulties: ;Ch.7 Trajectory Planning of Robots ;Joint-Space Schemes Each path point is converted into a set of desired joint angles by application of the inverse kinematics. A smooth function is found for each of the n joints which pass through the via points and end at the goal point. Time required for each segment is the same for each joint. The determination of the desired joint angle function for a particular joint is independent with other joints.;Choice of interpolation function is not unique!;Some possible interpolation functions: Cubic polynomials Cubic polynomials for a path with via points Higher-order polynomials Linear function with parabolic blends Linear function with parabolic blends for a path with via points;In making a single smooth motion, at least four constraints on are evident:;Combining the four constraints yields four equations with four unknowns:;These four constraints uniquely specify a particular cubic: ;Eg. 7.1 A single-link robot with a rotary joint is motionless at θ = 15 degrees. It is desired to move the joint in a smooth manner to θ= 75 degrees in 3 seconds. Find the coefficients of a cubic which accomplishes this motion and brings the manipulator to rest at the goal. Plot the position, velocity, and acceleration of the joint as a function of time.;Solution: Plugging θ0 =15，θf =75，tf = 3 into (7.6), we find ;Solut