Trajectory Planning презентация

Trajectory Planning Lecture 10 Irob 2305 Introduction to Robotics

Introduction Path and trajectory planning means the way that a robot is moved from one location to another in a controlled manner. The sequence of movements for a controlled movement between the motion segment, in straight-line motion or in sequential motions. It requires the use of both kinematics and dynamics of robots. 

Problem Formulation

Problem Formulation

Path and Trajectory Path It’s a way of getting from A to B A set of points that links A to B Says nothing about the speed at which we progress along the path There is no notion of time

Path planning The main path planning tasks for a robot are as follows: grasping and releasing objects moving from place to place following previously specified paths following moving objects working with other manipulators exerting forces (i.e. pushing, pulling and holding) exerting torques collecting data using tools

Path planning The process of computing a sequence of position, velocities and accelerations A trajectory is a description of the robot motion through space Trajectory planning is the task of associating time with the path The path positions may be described in several ways, for example joint coordinates A trajectory planner is highly specific to the path plan Once time has been associated with positions, the velocities and accelerations may be found

Motion planning: Path and Trajectory

Trajectory classification

Joint space and task space trajectory

Joint space and task space trajectory

JOINT-SPACE VS. CARTESIAN-SPACE DESCRIPTIONS

Trajectory Planning

Some typical trajectories Point to point straight lines

Video segment