AbstractThe concept of a tube is introduced and is applied to the solving of the collision‐avoidance, minimum‐time trajectory planning problem. A collision‐free space is represented by an articulated tube with parameters of reference points and path tolerances. For obstacle avoidance, the end effector is constrained to move inside of the tube. An algorithm which will find suboptimal solutions for optimizing both path and velocity history of the trajectory by the use of piecewise joint‐space polynomials is presented. This algorithm exploits the robot arm dynamics in realistic environments where obstacles are present and the minimization of task time is desired with smooth motion. Experimental results show that as the path tolerance increases the new algorithm takes advantage of the spatial freedom to provide solutions superior to conventional approaches and to methods based on predefine
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