Synthesis of dynamic motions for robotic manipulators with geometric path constraints

Mechatronics

Volumn 16, Issue 9, 2006, Pages 547-563

  Chettibi, Taha ^a  

^a ECOLE MILITAIRE POLYTECHNIQUE   (Algeria)

Author keywords

Genetic algorithm; Geometric path constraints; Robotic manipulator

Indexed keywords

COMPUTATIONAL GEOMETRY; CONSTRAINT THEORY; GENETIC ALGORITHMS; NUMERICAL METHODS; OPTIMIZATION; PROBLEM SOLVING; ROBOTICS; VELOCITY MEASUREMENT;

GEOMETRIC PATH CONSTRAINTS; KINODYNAMIC CONSTRAINTS; NONLINEAR OPTIMIZATION; ROBOTIC MANIPULATORS;

MANIPULATORS;

EID: 33748626518     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechatronics.2006.03.012     Document Type: Article

References (40)

1. Bobrow J.E., Dubowsky S., and Gibson J.S. Time-optimal control of robotic manipulators. Int J Rob Res 4 3 (1985) 3-17
2. Kang G.S., and McKay D.N. Minimum-time control of robotic manipulators with geometric path constraints. IEEE Trans Autom Control AC-30 6 (1985)
3. Kang G.S., and McKay D.N. Minimum cost trajectory planning for industrial robots. Cont Dyn Sys 39 (1991) 345-375
4. Pfeiffer F., and Rainer J. A concept for manipulator trajectory planning. IEEE J Robot Autom Ra-3 2 (1987) 115-123
5. Jaques J., Soltine E., and Yang H.S. Improving the efficiency of time-optimal path following algorithms. IEEE Trans Rob Autom 5 1 (1989)
6. Chettibi T. Contribution à l'exploitation optimale des bras manipulateurs. Magister Thesis, EMP, Algiers, 2000.
7. Shiller Z., and Dubowsky S. Robot path planning with obstacles, actuator, Gripper and payload constraints. Int J Rob Res 8 6 (1989) 3-18
8. Shiller Z., and Lu H.H. Computation of path constrained time optimal motions with dynamic singularities. ASME J Dyn Sys Meas Cont 114 (1992) 34-40
9. Shiller Z. Time-energy optimal control of articulated systems with geometric path constraints. ASME J Dyn Sys Meas Cont 118 1 (1996) 139-143
10. Jamhour E., and André P.J. Planning smooth trajectories along parametric paths. Math Comput Simul 41 (1996) 615-626
11. Shin K.G., and Mckay D.N. A dynamic programming approach to trajectory planning of robotic manipulators. IEEE Trans Autom Control AC-31 6 (1986) 450-491
12. Tan H.H., and Potts R.B. Minimum time trajectory planner for the discrete dynamic robot model with dynamic constraints. IEEE J Rob Autom 4 2 (1988) 174-185
13. Tan H.H., and Potts R.B. A discrete trajectory planner for robotic arms with six degrees of freedom. IEEE Trans Rob Autom 5 5 (1989) 681-690
14. Betts J.T. A direct approach to solving optimal control problems. Comput Sci Eng (1999) 72-75
15. Chettibi T., Lehtihet H.E., Haddad M., and Hanchi S. Minimum cost trajectory planning for industrial robots. Eur J Mech/A (2004) 703-715
16. Constantinescu D., and Corft E.A. Smooth and time-optimal trajectory planning for industrial manipulators along specified paths. J Rob Syst 17 5 (2000) 233-249
17. Chettibi T, Lehtihet HE. A new approach for point to point optimal motion planning problems of robotic manipulators. In: Proc of 6th biennial conf on engineering syst design and analysis, 2002. APM10.
18. Chettibi T, Haddad M, Rebai S, Hentout A. A stochastic off line planner of optimal dynamic motions for robotic manipulators. In: Proc of 1st inter. conf. on informatics, in control, automation and robotics, 2004, Portugal.
19. Angeles J. Fundamentals of robotic mechanical systems. Theory, methods, and algorithms (1997), Springer Edition
20. Piazzi A., and Visioli A. Global minimum time trajectory planning of mechanical manipulators using internal analysis. Int J Control 71 4 (1998) 631-652
21. Piazzi A., and Visioli A. Global minimum-jerk trajectory planning of robot manipulators. IEEE Trans Ind Electron 47 1 (2000) 140-149
22. Goldberg D. Genetic algorithms in search, optimization and machine learning (1989), Addison-Wesley Longman, Inc., Reading, MA (NY)
23. Yano F, Tooda Y. Preferable movement of a multi-joint robot arm using genetic algorithm. In: Part of the SPIE conf. on intelligent robots and computer vision, vol. 3837, 1999. p. 80-8.
24. Shintaku E. Minimum energy trajectory for an underwater manipulator and its simple planning method by using a genetic algorithm. Adv Rob 13 (1999) 115-138
25. Lianfang T., and Curtis C. An effective robot trajectory planning method using a genetic algorithm. Mechatronics 14 (2004) 455-470
26. Chettibi T, Haddad M, Hanchi S. Parametric optimization for optimal synthesis of robotic systems'motions. In: Proc of 2nd inter. conf. on informatics, in control, automation and robotics, 2005, Barcelona.
27. Chettibi T., Haddad M., Labed A., and Hanchi S. Generating optimal dynamic motions for closed-chain robotic systems. Eur J Mech - A/Solids 24 3 (2005) 504-518 May-June
28. Lin C.S., Chang P.R., and Luh J.Y.S. Formulation and optimization of cubic polynomial joint trajectories for industrial robots. IEEE Trans Autom Control AC-28 12 (1983) 1066-1073 December
29. Numerical Recipes. C: The art of scientific computing. 2nd ed. (1992), Cambridge University Press
30. Carlos A., and Coello C. Theoretical and numerical constraint-handling techniques used with evolutionary algorithms: a survey of the state of the art. Comput Methods Appl Mech Eng 191 11-12 (2002) 1245-1287
31. Houck CR, Joines JA., Kay MG. A genetic algorithm for function optimization: a Matlab implementation. Technical Report, NCSU-IE TR 95-09, 1995.
32. Armstrong B, Khatib O, Burdick J. The explicit dynamic model and inertial parameters of the Puma 560 arm. In: Proc IEEE int conf robotics and automation, vol. 1, 1986. p. 510-8.
33. Corke P.I. A Robotics Toolbox for MATLAB. IEEE Rob Autom Mag 3 N°1 (1996) 24-32
34. Yamamoto M., Isshiki Y., and Mohri A. Collision free minimum time trajectory planning for manipulators using global search and gradient method. Proc. IEEE/RSJ/GI, IROS (1994) 2184-2191
35. Jiang K., Seneviratne L.D., and Earles S.W.E. Time optimal smooth-path motion planning for a mobile robot with kinematic constraints. Robotica 15 (1997) 547-553
36. Yamamoto M, Iwamura M, Mohri A. Quasi-time-optimal motion planning of mobile platforms in the presence of obstacles. In: Proc of IEEE int conf. on rob and aut, Michigan, 1999. p. 2958-63.
37. Shiller Z., and Dubowsky S. On computing the global time-optimal motions of robotic manipulators in the presence of obstacles. IEEE Trans Rob Autom 7 6 (1991) 785-797 December
38. Kim J, Pearce RA, Amato NM. Extracting optimal paths from roadmaps for motion planning. In: Proc IEEE int conf on rob and aut (ICRA), vol. 2, September 2003. p. 2424-9.
39. Latombe J.C. Robot motion planning (1991), Kluwer Academic Publishers
40. Houck C.R., Joines J.A., and Kay M.G. A genetic algorithm for function optimization: a matlab implementation. NCSU-IE TR (1995) 95-109