Chapter 6 Trajectory Planning of Manipulator Path vs

  • Slides: 29
Download presentation
Chapter 6 머니퓰레이터 궤적 계획 (Trajectory Planning of Manipulator)

Chapter 6 머니퓰레이터 궤적 계획 (Trajectory Planning of Manipulator)

Path vs. Trajectory Path (경로) Sequences of points (configurations) Path planning Trajectory (궤적) Time

Path vs. Trajectory Path (경로) Sequences of points (configurations) Path planning Trajectory (궤적) Time history of position, velocity, and accelerations Trajectory planning v Motion Planning = Path Planning + Trajectory Planning 2

관절공간 vs. 직교공간 Joint-space trajectory planning Joint variable 의 interpolation Point-to-Point (PTP) motion Cartesian

관절공간 vs. 직교공간 Joint-space trajectory planning Joint variable 의 interpolation Point-to-Point (PTP) motion Cartesian space 에서의 중간경로 예측 어렵다 명령어: MOVE P 1 Spot Welding 3

관절공간 vs. 직교공간 Cartesian-space trajectory planning Cartesian variable 의 interpolation Linear motion / Circular

관절공간 vs. 직교공간 Cartesian-space trajectory planning Cartesian variable 의 interpolation Linear motion / Circular motion 등 중간 이동경로가 중요한 작업: Arc Welding 등 명령어 예: MOVEL P 1, MOVEC P 2 4

궤적계획 시 고려할 점 1) Initial & final conditions - Initial position, velocity, acceleration

궤적계획 시 고려할 점 1) Initial & final conditions - Initial position, velocity, acceleration - Final position, velocity, acceleration 2) Smooth conditions (예) 물컵 배달 로봇, 웨이퍼 핸들링 로봇 3) Via points 4) Elapsed time 5

직교공간에서의 궤적계획 S 1. Increment the time t = t + Δt S 2.

직교공간에서의 궤적계획 S 1. Increment the time t = t + Δt S 2. Calculate the position and orientation of hand P = P(t), R = R(t) S 3. Calculate joint values : inverse kinematics θ 1, … , θ n S 4. Send the joint values to joint (motor) controller S 5. Go to S 1 26

직교공간에서의 궤적계획 Cartesian space planning 시 고려사항 1. 많은 계산량: inverse kinematics 2. Intermediate

직교공간에서의 궤적계획 Cartesian space planning 시 고려사항 1. 많은 계산량: inverse kinematics 2. Intermediate points unreachable 3. Sudden joint-angle change around sigularities 29

Trajectory Pattern Mining NTU IM Hsieh HsunPing TrajectoryTrajectory Pattern Mining NTU IM Hsieh HsunPing Trajectory
Allen Guzik Trajectory AAE 450 Spring 2008 TrajectoryAllen Guzik Trajectory AAE 450 Spring 2008 Trajectory
Elizabeth Harkness Trajectory Design Group Contact Preliminary TrajectoryElizabeth Harkness Trajectory Design Group Contact Preliminary Trajectory
Chapter 8 Path Testing Path testing Path testingChapter 8 Path Testing Path testing Path testing
Today Path Planning Improving A Hierarchical Path PlanningToday Path Planning Improving A Hierarchical Path Planning
Directed Path Directed Path Agenda Directed Path AboutDirected Path Directed Path Agenda Directed Path About
Curves Path trajectory motion Parameterization Designing polyloops VelocityCurves Path trajectory motion Parameterization Designing polyloops Velocity
Today Admin Path Planning Intro Waypoints A PathToday Admin Path Planning Intro Waypoints A Path
Chapter 16 PATH ANALYSIS Chapter 16 PATH ANALYSISChapter 16 PATH ANALYSIS Chapter 16 PATH ANALYSIS
Chapter 5 Trajectory Planning 5 1 INTRODUCTION InChapter 5 Trajectory Planning 5 1 INTRODUCTION In
Chapter 5 Trajectory Planning 5 1 INTRODUCTION InChapter 5 Trajectory Planning 5 1 INTRODUCTION In
Chapter 5 Trajectory Planning 5 1 INTRODUCTION InChapter 5 Trajectory Planning 5 1 INTRODUCTION In
PLT 328 ROBOTICS CONTROL CHAPTER 1 TRAJECTORY PLANNINGPLT 328 ROBOTICS CONTROL CHAPTER 1 TRAJECTORY PLANNING
Chapter 5 Trajectory Planning 5 1 INTRODUCTION InChapter 5 Trajectory Planning 5 1 INTRODUCTION In
Chapter 5 Trajectory Planning 5 1 INTRODUCTION InChapter 5 Trajectory Planning 5 1 INTRODUCTION In
Chapter 5 Trajectory Planning 5 1 INTRODUCTION InChapter 5 Trajectory Planning 5 1 INTRODUCTION In
Chapter 7 Control of Manipulator DC DCDirect CurrentChapter 7 Control of Manipulator DC DCDirect Current
Automated Planning Planning The Planning problem Planning withAutomated Planning Planning The Planning problem Planning with
Automated Planning Planning The Planning problem Planning withAutomated Planning Planning The Planning problem Planning with
Planning Planning Why is planning important Planning SettingsPlanning Planning Why is planning important Planning Settings
My Chapters Path Chapter Operations My Chapters PathMy Chapters Path Chapter Operations My Chapters Path
Introduction to ROBOTICS TRAJECTORY PLANNING University of BridgeportIntroduction to ROBOTICS TRAJECTORY PLANNING University of Bridgeport
Trajectory Planning and System dynamics Eric Feron LaboratoryTrajectory Planning and System dynamics Eric Feron Laboratory
Introduction to ROBOTICS Trajectory Planning University of BridgeportIntroduction to ROBOTICS Trajectory Planning University of Bridgeport