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首页> 外文期刊>Journal of robotic systems >Near-Time Optimal Robot Motion Planning for On-line Applications
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Near-Time Optimal Robot Motion Planning for On-line Applications

机译：在线应用的近时最佳机器人运动计划

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摘要

Solving current formulations of the time-optimal point-to-point motion problem for robotic manipulators is a computationally intensive task. Thus, most existing solutions are not suitable for on-line motion planning applications, such as the interception of moving targets, where time-optimality of the motion is advantageous. A novel technique is proposed in this article that separates the time-optimal point-to-point motion problem into the following two sub-problems: (1) selection of a near-time-optimal path between the two endpoints, and (2) generation of time-optimal motion along the selected path (i.e., constrained continuous path motion). Although our approach uses known path-constrained time-optimal-motion algorithms for the second sub-problem, a new method is proposed for the selection of near-time-optimal paths. Based on a study of the characteristics of global-time-optimal paths, the near-optimal path is selected as a minimum-curvature joint spline, tangent to one of the manipulator's acceleration directions at the start point, and tangent to the required manipulator velocity direction at the end point. The algorithm for determining the overall near-optimal path is described herein, along with an example. Simulation test results and computation-time studies indicate that the proposed method is suitable for on-line motion planning applications.
机译：解决机器人操纵器的时间最优点对点运动问题的当前公式是一项计算量很大的任务。因此，大多数现有解决方案均不适用于在线运动计划应用，例如运动目标的拦截，而运动的时间最佳性是有利的。本文提出了一种新技术，该技术将时间最优的点对点运动问题分为以下两个子问题：（1）选择两个端点之间的接近时间最优的路径，以及（2）沿选定路径生成时间最佳运动（即，受约束的连续路径运动）。尽管我们的方法将已知的路径受限时间最优运动算法用于第二个子问题，但还是提出了一种新的方法来选择接近时间最优的路径。基于对全局时间最优路径特征的研究，选择接近最优路径作为最小曲率关节样条，在起点处与机械手的加速度方向之一相切，并与所需的机械手速度相切终点方向。本文连同示例描述了用于确定总体接近最佳路径的算法。仿真测试结果和计算时间研究表明，该方法适用于在线运动计划应用。

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