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Configuration Space Motion Planning for a RoboticManipulator: Using Optimization Methods for Multipoint Trajectories and a Virtual Vechicle Approach for Work Space Constraints
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

A common method to design trajectories is by cubic splines to interpolate a set of via-points for a robot. The trajectories are optimized with respect to an objective function including the total time with a set of kinematic constraints. The execution time for this problem is longer then the sampling time of an embedded computer and restricts the use of this method in on-line applications. To modify this procedure to be usable on-line a point-to-point motion planner is developed using the output from the optimization programming at each iteration. This point-to-point motion planner runs on a separate process and contains a virtual vehicle to restrict the end-effector speed in its operational space. This results in an adaptive motion planner capable of handling kinematic actuator constraints and end-effector speed constraints in the operational space. The thesis ends with results from simple simulations demonstrating the effects.

Abstract [sv]

En vanlig metod för attutforma banor är genom kubiska splines för att interpolera en uppsättning avvia-punkter för en robot. Banorna är optimerade med avseende på en målfunktionav den totala tiden med en uppsättning av kinematiska begränsningar.Exekveringstiden för detta problem är ofta längre än samplingstiden för eninbyggd dator och begränsar användningen av denna metod i applikationeron-line. För att metoden skall kunna användas on-line skapas enpunkt-till-punkt planerare med hjälp av utdata från den iterativa lösaren avoptimeringsproblemet vid varje iteration. Punkt-till-punkt banorna planeras ochkörs på en separat process och innehåller en virtual vehicle för att begränsaend-effectorns fart i den operativa rymden. Detta resulterar i en adaptiv rörelseplaneraresom hanterar kinematiska manövrerings begränsningar och fart begränsningar avend-effectorn i den operativa rymden. Arbetet avslutas med resultat från enklasimuleringar som visar effekterna.

Place, publisher, year, edition, pages
2014.
Series
TRITA-MAT-E, 2014:65
Keyword [sv]
Banplanering i konfigurationsrummet för en robot
National Category
Computational Mathematics
Identifiers
URN: urn:nbn:se:kth:diva-156416OAI: oai:DiVA.org:kth-156416DiVA: diva2:766649
External cooperation
DeLaval
Subject / course
Optimization and Systems Theory
Educational program
Master of Science - Mathematics
Supervisors
Examiners
Available from: 2014-11-28 Created: 2014-11-27 Last updated: 2014-11-28Bibliographically approved

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CiteExportLink to record
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