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首页> 外文期刊>Advanced Robotics: The International Journal of the Robotics Society of Japan >Time-optimal parabolic interpolation with velocity, acceleration, and minimum-switch-time constraints
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Time-optimal parabolic interpolation with velocity, acceleration, and minimum-switch-time constraints

机译：具有速度，加速度和最小切换时间约束的时间最优抛物线插值

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摘要

Time-optimal trajectories with bounded velocities and accelerations are known to be parabolic, i.e. piecewise constant in acceleration. An important characteristic of this class of trajectories is the distribution of the switch points - the time instants when the acceleration of any robot joint changes. When integrating parabolic trajectory generation into a motion planning pipeline, especially one that involves a shortcutting procedure, resulting trajectories usually contain a large number of switch points with a dense distribution. This high frequency acceleration switching intensifies joint motor wear as well as hampers the robot performance. In this paper, we propose an algorithm for planning parabolic trajectories subject to both physical bounds, i.e. joint velocity and acceleration limits, and the minimum-switch-time constraint. The latter constraint ensures that the time duration between any two consecutive switch points is always greater than a given minimum value. Analytic derivations are given, as well as comparisons with other methods to demonstrate the efficiency of our approach.
机译：已知具有有限速度和加速度的时间最优轨迹是抛物线形的，即加速度的分段常数。此类轨迹的一个重要特征是开关点的分布-任意机器人关节的加速度发生变化的时刻。当将抛物线轨迹生成集成到运动计划管线中时，尤其是涉及捷径程序的管线，生成的轨迹通常包含大量分布密集的开关点。这种高频加速开关会加剧关节电机的磨损，并阻碍机器人的性能。在本文中，我们提出了一种规划抛物线轨迹的算法，该算法既要考虑物理边界，即关节速度和加速度极限，又要考虑最小切换时间约束。后一个约束条件确保任何两个连续的切换点之间的持续时间始终大于给定的最小值。给出了解析推导，并与其他方法进行了比较以证明我们方法的有效性。

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