Robo - All in One (1-8)

Curs 1-3
Curs 4 - Trajectory planning

Curs 5 part 1
Curs 5 part 2
Curs 6
Curs 6 senzori
Curs 7
Curs 8
Material suplimentar 1
Material suplimentar 2
La ROBO dam partial din cursurile 1 si 2, de asemenea din cursul 4 avem polinoamele de grad 3 si
5, trapezul, iar din cursul 5 avem partea de urmarire a traiectoriei, partea de control.
Din cursul 6 avem motorul de curent continuu, sisteme automate si calculul erorilor, urmarirea
traiectoriei.
Din cursul 7 avem traductoare si senzori.
Din cursul 3 avem doar ecuatia dinamicii asociate. Nu intra robotii dinamici.
Subiectele sunt grupate in fc de gradul de dificultate.
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Kinematics: relationships in terms of position /

velocity between the joint and work-space.
Dynamics: relationships between the torques

applied to the joints (mass of the rigid body) and
the consequent movements of the links.
Trajectory planning: planning of the desired

movements of the manipulator taking time into
consideration
Planning the trajectories :

Defining the points on the trajectory:
point-to-point
pre-defined path
In regard to the work space:

joint space trajectory planning;
operational space trajectory planning
Trajectory planning includes:

path planning
definition of a motion law
applying constrains (ex: path, continuity, resonant modes)
Path: geometrical place of points in the space

(either joint or operational).
Geometrical description of motion
Defined in joint space or work space
Trajectory: a path completed with a motion (time)
law
Motion law: velocities and accelerations
associated to path points.
s=s(t)
P
Trajectory in work space
Define path:
initial point ->
final point
Define total time

of movement
Calculate discrete
path
Advantages
Geometrical constrains
Disadvantages
Inverse kinematics calculated each step.
Total time hard to compute
Blend a
continuous time
function
Solve inverse
kinematics
Calculate inverse
kinematics for
path points
Define total time in

regard to max
velocities of joints
Calculate discrete
path
Advantages
Inverse kinematics is calculated at the beginning
Calculates directly joint angle, and velocities
Disadvantages
Difficult to model operational space obstacles.
Blend a
continuous time
function
Path in joint space:

defining initial, intermediate and final values for the joint
variables
assigning a desired motion law.
Motion law = continuous functions ( superior order of derivations

as to be able to calculate velocity and acceleration)
Motion law usually defined as polynomial functions a of n degree

(usually n: 1-5):
INPUT
OUTPUT
Trajectory in
joint space
Points on path
Geometrical
Constrains
Mechanical
Constrains
Trajectory planning
algorithm
Trajectory in
work space
Characteristics of the function that interpolates the given points:

the motion law must be continuous functions of time
numerical calculation efficiency
effect of calculation constrains must be minimized or completely avoided.
Polinoame de ordin 3
Conditii :
Initiale si finale
Pozitia si viteza initiala
Pozitia si viteza finala
Conditiile la limita aplicate:
For
Polinom de ordin 5 :
Se pot pune conditii legate de

pozitie
viteza
acceleratie
6 conditii la limita:
Pentru
Doua tipuri de segmente

Segment liniar-> viteza constanta
Segment parabolic -> viteza este o functie liniara
Traiectorie trapezoidala:
Primul si ultimul segment
acceleratie / deceleratie constanta
Viteza liniara
Pozitia parabola
Al doilea segment
Acceleratia este nula
Viteza este constanta
Pozitia variaza liniara in timp
Acceleration segment
Boundary conditions:
initial position
initial velocity
final velocity = constant velocity
for second segment
Constant velocity phase
Boundry conditions:
Constant velocity from the first segment
Final position from fist segment = initial position for
second segment
.
.
Deceleration phase
Boundary conditions:
final position
final velocity
initial velocity = constant velocity for second segment
Initial position = final position for second segment
Additional constrains (necessary to solve the

equation)
duration of the acceleration/deceleration segment
similar conditions
Define
maximum
acceleration
Calculate
duration of
acceleration
A function interpolating a set of n points can be represented

with a polynomial function of degree n 1.
Not a convenient solution
2 points = unique line

3 points = unique quadric
...
n points = unique polynomial
with degree n 1
Calculating n degree poliyom Lagrange

expression for polynomial equation:
Calculating n degree poliyom using Matrix

procedure
To avoid problem of n degree polynomial

equation we use n 1 polynomials with lower
degree p (p < n 1), each polynomial
interpolates a segment of the trajectory.
P=3
4 coefficients for each polynomial,

Calculate 4(n 1) coefficients
4(n 1) coefficients
- 2(n 1) conditions on the position (initial/final points);
- n 2 conditions on the continuity of velocity
(intermediate points);
- n 2 conditions on the continuity of acceleration
(intermediate points);
Result
4(n 1) 2(n 1) 2(n 2) = 2
degrees of freedom left to put extra conditions
P degree
polynom
P degree
polynom
..
..
Calculating the parameters

The systems:

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Curs 1-3

Curs 4 - Trajectory planning

Kinematics: relationships in terms of position /

Dynamics: relationships between the torques

Trajectory planning: planning of the desired

Planning the trajectories :

In regard to the work space:

Trajectory planning includes:

Path: geometrical place of points in the space

Define total time

Define total time in

Path in joint space:

Motion law = continuous functions ( superior order of derivations

Motion law usually defined as polynomial functions a of n degree

Characteristics of the function that interpolates the given points:

Conditiile la limita aplicate:

Se pot pune conditii legate de

Doua tipuri de segmente

for second segment

Constant velocity phase

Additional constrains (necessary to solve the

A function interpolating a set of n points can be represented

2 points = unique line

Calculating n degree poliyom Lagrange

Calculating n degree poliyom using Matrix

To avoid problem of n degree polynomial

4 coefficients for each polynomial,

degrees of freedom left to put extra conditions

Calculating the parameters

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