Minimum cost trajectory planning for industrial robots

European Journal of Mechanics, A/Solids

Volumn 23, Issue 4, 2004, Pages 703-715

  Chettibi, T ^a   Lehtihet, H E ^a   Haddad, M ^a   Hanchi, S ^a  

^a ECOLE MILITAIRE POLYTECHNIQUE   (Algeria)

Author keywords

Grasping mobile objects; Motion planning; Non linear optimization; Obstacles avoidance; Robotic manipulators

Indexed keywords

CONSTRAINT THEORY; COSTS; FUNCTIONS; MANIPULATORS; MOTION PLANNING; OPTIMAL CONTROL SYSTEMS; OPTIMIZATION; QUADRATIC PROGRAMMING; TRAJECTORIES;

NONLINEAR OPTIMIZATION; PATH CONTROL; TRAJECTORY PLANNING;

INDUSTRIAL ROBOTS;

EID: 2942607823     PISSN: 09977538     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.euromechsol.2004.02.006     Document Type: Article

References (42)

1. Angeles J. Fundamentals of Robotic Mechanical Systems. Theory, Methods, and Algorithms. 1997;Springer.
2. Armstrong B., Khatib O., Burdick J. The explicit dynamic model and inertial parameters of PUMA 560 arm. IEEE Int. Conf. on Rob. & Aut., San Francisco. 1986;510-518.
3. Barclay, A., Gill, P.E., Rosen, J.B., 1997. SQP Methods and their application to numerical optimal control. Report NA97-3, Department of Mathematics, University of California, San Diego.
4. Bessonnet, G., 1992. Optimisation dynamique des mouvements point à point de robots manipulateurs. Thèse d'état, Université de Poitiers, France.
5. Betts J.T. Survey of numerical methods for trajectory optimization. J. Guidance Cont. Dyn. 21:(2):1998;193-207.
6. Bobrow J.E., Dubowsky S., Gibson J.S. Time optimal control of robotic manipulators along specified paths. Int. J. Rob. Res. 4:(3):1985;3-15.
7. Bobrow J.E., Martin B.J., Sohl G., Wang E.C., Park F.C., Kim J. Optimal robot motions for physical criteria. J. Rob. Syst. 18:(12):2001;785-795.
8. Chettibi, T., 2000. Contribution à l'exploitation optimale des bras manipulateurs. Mémoire de Magister, EMP, Algiers, Algeria.
9. Chettibi, T., 2001. Optimal motion planning of robotic manipulators. Maghrebine Conference of Electric Engineering, Constantine, Algeria.
10. Chettibi T. Research of optimal free motions of manipulators robots by non-linear optimisation. Séminaire international de génie mécanique, Oran, Algeria. 2002;317-325.
11. Chettibi T., Lehtihet H.E. A new approach for point to point optimal motion planning problems of robotic manipulators. 6th Biennial Conf. on Engineering Syst. Design and Analysis (ASME), Turkey. 2002;. APM10.
12. Chettibi, T., Yousnadj, A., 2001. Optimal motion planning of robotic manipulators along specified geometric path. Int. Conf. on Productic, Algiers, Algeria.
13. Danes, F., 1998. Critères et contraintes pour la synthèse optimale des mouvements de robots manipulateurs. Application à l'évitement d'obstacles. Thèse d'état, Université de Poitiers.
14. Dombre E., Khalil W. Modélisation et commande des robots. First ed: 1988;Hermes.
15. Eltimsahy, A.H., Yang, W.S., 1988. Near minimum time control of robotic manipulator with obstacles in the workspace. CH2555-1/88/000/IEEE, pp. 358-363.
16. Fletcher R. Practical methods of Optimization. Second ed: 1987;Wiley.
17. Gaudin H., Bessonnet G. From identification to motion optimisation of a planar manipulator. Robotica. 13:1995;123-132.
18. Glass K., Colbaugh R., Lim D., Seradji H. Real time collision avoidance for redundant manipulators. IEEE Trans. Rob. Aut. 11:(3):1995;448-457.
19. Hentout, A., 2004. Planification de trajectoires sans collision pour les robots manipulateurs. Mémoire de Magister, EMP, Algiers, Algeria.
20. Hull D.G. Conversion of optimal control problems into parameter optimization problems. J. Guidance Cont. Dyn. 20:(1):1997;57-62.
21. Jaques J., Soltine E., Yang H.S. Improving the efficiency of time-optimal path following algorithms. IEEE Trans. Rob. Aut. 5:(1):1989.
22. Kahn M.E., Roth B. The near minimum time control of open loop articulated kinematic chains. ASME J. Dyn. Syst. Meas. Contr. 11:1971;164-172.
23. Kang G.S., McKay D.N. Selection of near minimum time geometric paths for robotic manipulators. IEEE Trans. Aut. Contr. AC-31:(6):1986;501-512.
24. Lazrak, M., 1996. Nouvelle approche de commande optimale en temps final libre et construction d'algorithmes de commande de systèmes articulés. Thèse d'état, Université de Poitiers, France.
25. Luh J.Y.S., Lin C.S. Optimum path planning for mechanical manipulators. Trans. ASME J. Dyn. Syst. Meas. Contr. 102:1981;142-151.
26. Luh J.Y.S., Walker M.W. Minimum time along the path for mechanical manipulators. IEEE Conf. Decision & Cont., New Orleans, LA. 1977;755-759.
27. Macfarlane S., Croft E.A. Design of jerk bounded trajectories for on-line industrial robot applications. Proc. IEEE Int. Conf. Rob. & Aut. 2001;979-984.
28. Mao Z., Hsia T.C. Obstacle avoidance inverse kinematics solution of redundant robots by neural networks. Robotica. 15:1997;3-10.
29. Martin B.J., Bobrow J.E. Minimum effort motions for open chain manipulators with task dependent end-effector constraints. Proc. IEEE Int. Conf. Rob. & Aut., Albuquerque, NM. 1997;2044-2049.
30. Martin B.J., Bobrow J.E. Minimum effort motions for open chain manipulators with task dependent end-effector constraints. Int. J. Rob. Res. 18:(2):1999;213-224.
31. Nearchou A.C., Aspragathos N.A. A genetic path planning for redundant articulated robots. Robotica. 15:1997;213-224.
32. Pfeiffer F., Rainer J. A concept for manipulator trajectory planning. IEEE J. Rob. Aut. Ra-3:(3):1987;115-123.
33. Piazzi A., Visioli A. Global minimum time trajectory planning of mechanical manipulators using internal analysis. Int. J. Cont. 71:(4):1998;631-652.
34. Pontryagin L., Boltianski V., Gamkrelidze R., Michtchenko E. Théorie mathématique des processus optimaux. 1965;Mir.
35. Powell M.J. Algorithm for non-linear constraints that use Lagrangian functions. Math. Programming. 14:1984;224-248.
36. Rebai, S., 2002. Contribution à la planification optimale des mouvements libres des robots manipulateurs. Mémoire de Magister, EMP, Algiers, Algeria.
37. Richard M.J., Dufourn F., Tarasiewicz S. Commande des robots manipulateurs par la programmation dynamique. Mech. Mach. Theory. 28:(3):1993;301-316.
38. Schittowski K. NLQPL: a FORTRAN-subroutine solving constrained nonlinear programming problems. Ann. Oper. Res. 5:1985;485-500.
39. Shiller Z., Dubowsky S. Robot path planning with obstacles, actuators, gripper and payload constraints. Int. J. Rob. Res. 8:(6):1986;3-18.
40. Shin G.H., Mckay D.N. A dynamic programming approach to trajectory planning of robotic manipulators. IEEE Trans. Aut. Contr. AC-31:(6):1986;450- 491.
41. Tan H.H., Potts R.B. Minimum time trajectory planner for the discrete dynamic robot model with dynamic constraints. IEEE J. Rob. Aut. 4:(2):1988;174-185.
42. Yamamoto M., Ozaki H. Planning of manipulator joint trajectories by an iterative method. Robotica. 6:1988;101-105.