Time-optimal trajectory planning for robot manipulators based on the distortive configuration space method

Masaaki Shibata, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an approach to plan obstacle avoiding path of time-optimal trajectory for robot manipulator. When it is assumed that initial and final postures of the manipulator are specified and the manipulator is in the stationary state in both postures, the trajectory minimizing the motion time from the initial state to the final without any collisions against obstacles is planned. In previous papers, time-optimal trajectory along the specified path is well researched and several methods are reported. In this paper, a method to generate the collision free path for time-optimal trajectory is described. It is generally known well that it is effective to utilize Configuration Space for collision free path planning. Then, we propose the method using an advanced configuration space, the Distortive Configuration Space Method, to plan the path. When the configuration space has been obtained, it is transformed with artificial potentials into the distortive one. The path for time-optimal trajectory is represented by a straight segment in the distortive space.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE
Pages1052-1057
Number of pages6
Volume2
Publication statusPublished - 1994
EventProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy
Duration: 1994 Sep 51994 Sep 9

Other

OtherProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3)
CityBologna, Italy
Period94/9/594/9/9

Fingerprint

Manipulators
Trajectories
Robots
Planning
Motion planning

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Shibata, M., & Ohnishi, K. (1994). Time-optimal trajectory planning for robot manipulators based on the distortive configuration space method. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2, pp. 1052-1057). IEEE.

Time-optimal trajectory planning for robot manipulators based on the distortive configuration space method. / Shibata, Masaaki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 2 IEEE, 1994. p. 1052-1057.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shibata, M & Ohnishi, K 1994, Time-optimal trajectory planning for robot manipulators based on the distortive configuration space method. in IECON Proceedings (Industrial Electronics Conference). vol. 2, IEEE, pp. 1052-1057, Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3), Bologna, Italy, 94/9/5.
Shibata M, Ohnishi K. Time-optimal trajectory planning for robot manipulators based on the distortive configuration space method. In IECON Proceedings (Industrial Electronics Conference). Vol. 2. IEEE. 1994. p. 1052-1057
Shibata, Masaaki ; Ohnishi, Kouhei. / Time-optimal trajectory planning for robot manipulators based on the distortive configuration space method. IECON Proceedings (Industrial Electronics Conference). Vol. 2 IEEE, 1994. pp. 1052-1057
@inproceedings{5ae14495d9ea4eb5885d4f5eccf38b08,
title = "Time-optimal trajectory planning for robot manipulators based on the distortive configuration space method",
abstract = "This paper presents an approach to plan obstacle avoiding path of time-optimal trajectory for robot manipulator. When it is assumed that initial and final postures of the manipulator are specified and the manipulator is in the stationary state in both postures, the trajectory minimizing the motion time from the initial state to the final without any collisions against obstacles is planned. In previous papers, time-optimal trajectory along the specified path is well researched and several methods are reported. In this paper, a method to generate the collision free path for time-optimal trajectory is described. It is generally known well that it is effective to utilize Configuration Space for collision free path planning. Then, we propose the method using an advanced configuration space, the Distortive Configuration Space Method, to plan the path. When the configuration space has been obtained, it is transformed with artificial potentials into the distortive one. The path for time-optimal trajectory is represented by a straight segment in the distortive space.",
author = "Masaaki Shibata and Kouhei Ohnishi",
year = "1994",
language = "English",
volume = "2",
pages = "1052--1057",
booktitle = "IECON Proceedings (Industrial Electronics Conference)",
publisher = "IEEE",

}

TY - GEN

T1 - Time-optimal trajectory planning for robot manipulators based on the distortive configuration space method

AU - Shibata, Masaaki

AU - Ohnishi, Kouhei

PY - 1994

Y1 - 1994

N2 - This paper presents an approach to plan obstacle avoiding path of time-optimal trajectory for robot manipulator. When it is assumed that initial and final postures of the manipulator are specified and the manipulator is in the stationary state in both postures, the trajectory minimizing the motion time from the initial state to the final without any collisions against obstacles is planned. In previous papers, time-optimal trajectory along the specified path is well researched and several methods are reported. In this paper, a method to generate the collision free path for time-optimal trajectory is described. It is generally known well that it is effective to utilize Configuration Space for collision free path planning. Then, we propose the method using an advanced configuration space, the Distortive Configuration Space Method, to plan the path. When the configuration space has been obtained, it is transformed with artificial potentials into the distortive one. The path for time-optimal trajectory is represented by a straight segment in the distortive space.

AB - This paper presents an approach to plan obstacle avoiding path of time-optimal trajectory for robot manipulator. When it is assumed that initial and final postures of the manipulator are specified and the manipulator is in the stationary state in both postures, the trajectory minimizing the motion time from the initial state to the final without any collisions against obstacles is planned. In previous papers, time-optimal trajectory along the specified path is well researched and several methods are reported. In this paper, a method to generate the collision free path for time-optimal trajectory is described. It is generally known well that it is effective to utilize Configuration Space for collision free path planning. Then, we propose the method using an advanced configuration space, the Distortive Configuration Space Method, to plan the path. When the configuration space has been obtained, it is transformed with artificial potentials into the distortive one. The path for time-optimal trajectory is represented by a straight segment in the distortive space.

UR - http://www.scopus.com/inward/record.url?scp=0028745935&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0028745935&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0028745935

VL - 2

SP - 1052

EP - 1057

BT - IECON Proceedings (Industrial Electronics Conference)

PB - IEEE

ER -