Robotics and Control

5 deg
ig. 74. The maximum values of velocity and acceler
12 deg/s. respectively
with vie
points with ith specit,
motion
Example 7.2 Point-to-point
velocities and acceleration of a leration of the
velocity
Determine the time-history of the position,
moves
from start
to goal point
point via
which
motion is
specifie in fied in Table
Tah
effector of a 5-DOFma manipulator,
end-effector

intermediate points. The

desired and the contiuity of vehcn
con
segment
in each
trajectory
Assume a cubic spline
the via points is enforeed
motion

Table 7.1
Desired end-effrctor
Path point (j)
2 - n/2
End-efector 3t/2
0
Position ' (rad) n/2 T 0
5
Velocity '(rad/s) 0
Traversal time , (s)
two via points and,
therefore, will have th
has
The given trajectory the time-hi
Solution be required to define
polynomials will
and three cubic be
segments
end-effector. Let the
three cubic polynomials
of motion of
+Glt a!" ajs
+
R)=ao
(1.61
B)=a20 t421 ta22 +az3
P)= as0 +a1l t az2! +a33t
of the three cubic polynomials
the unknown coefficients
are given by Eq.(7.1
where a, are

The constraintsimposed on these three polynomialsvalues from Table 7.1, fm

and substituting the boundary
Applying the constraints
firstsegment cubic gives the following equations:
R0)=40 =0
3t/2
R(3)= ajo +341 +942 +2743
=

(1.6
R(0)= a =0

R3)=a +6412 +27413 =T/2 d frou

compue
The four coefficient for the first segment polynomial P are

E4. (7.62) as
G1o = 0

=0 (7.
G2 2.09

13-0.52

and the cubic for first segment is

 Trajectory Planning
R ) =209 0.52

arly, for secondcubic the constraints from Table 7.1 give

(764)
B(3) a+ Ja +9a,» + 27ay - n/2
P(8)= a0 +8a21 +O4a2) +512ay = -n/2
P(3)= 4+ 6a +27a, = -R/2 (7.65)
P(8)= a21 t 16d2) + 192a21 = n
ouations (7.65) are solved to computethe from coefficients of polynomial
solution
is
The
P. a20-I.77

a 7.36
(7.66)
a22-2.22

a23 =0.16

second segment is
for the
and the cubic
P(t)=-1.77+ 7.361-2.221 +0.16 (7.67)
constraints from Table 7.1 give
cubic polynomial
the third
For
93(8) +64a2 +512ag =-R/2
=
a30 +8a3
21
g(10)= a30 + 10a31 t100dg2 1000ag
=
+
(7.68)
93(8)=a +16a32 +192as =T
0
2043 +300a,
=
+
4s(10)= a31
computed as:
for the third cubic
are
constraints
The four
a30 7 5 2 . 4 1

a3-267.04
(7.69)
a32 3 1 . 0 2

a33-1.18

is:
third and last segment (7.70)
and the cubic for the
752.41-267.041 +31.04 -1.18
P)= of the pount-to
the three segments These cubic
and P for (7.70).
polynomials P1, Pz (7.67) and
7.ll1a) and
he cubic give by Eqs. (7.64),
are plotted in Fig.
of
are, thus, end-effector acceleration

Pont trajectory
describing the
position of velocity
and
POynomials which represent 7.11(¢).
derivatives, and Fig. osition
second for posit 7.11(b)
their first and plotted in
Fig. maintained

are motion is
end-effector r e s p e c t i v e l y , that continuity of at the
via points.
note
From these figures,
acceleration

of
discontinuity com
computed

and velocity but there is

with
points
with
vla
via
motion
with
point points
Point-to-p
P o l n t - t o - p o i n t

Example 7.3 with

With
two viaf
va
instead
or

velocities p o i n t - t o - p o i n t
trajectory
are
computed

points
of at via
Consider
determination

sider the
v e l o c i t i e s

the
the data in Example 7.2 whe
being specified.
Example 7.4 Trajectory with a trapezoidal velocity profile
The motion of a joint of 3-DOF arm is constrained by an actuator
a maxinmum acceleration of 0.35 rad/s* and maximum that can nrod
trapezoidal velocity profile is assumed, determine the velocityif of 15 radl..1
by T rad in 10 s. trajectory the joint mo.
Solution A trapezoidal velocity profile implies a
constant acceleration
start phase, velocity and a constant deceleration in the arrival phase.inThethe
a cruise

trajectory will be as shown in Fig. 7.3.

Assuming that the trajectory is symmetric and the traversal is with maximum
possible acceleration, the parameters for the trajectory are:

= 0 = 0 (7.82)
=10 s
v = 15 rad/s =0.35 rad/s2
From Eq. (7.16), at the mid-point of the trapezoidal trajectory
m

2 2 (7.83
8
52 s
 278 Robotics and Control
The continuity of velocity condition at the blend points gives the con.
con
from which duration of parabolic blend , is determined.
From Eq. (7.20
-444 -q')
(184
Substituting the values from Eq. (7.7)
(102x0.35-4(T-0) = 1s
1
22 0.35 185
the trapezoidal trajectory 15, therefore, oblained
The motion time law for (7.22), (7.23) and (7.24
and given parameters in Eqs A)as
substituting the computed
0.1752
0SIS
1<t9
qt)={-0.175 +0.357
3.14-0.175(10-1) 9<1s10

0.35t
0sisl
Gt) =} 0.35
1<I9
(7.86)
9<ts10
0.35(10-1)
0Ss1
0.35
1<tg9
Gt) ={ 0

-0.35 9<Is10
that the maximum cruise
Note from the velocity equations of the trajectory
is 0.35 rad/s where as the actuator
velocity ofthe trapezoidal velocity profile only
is capable to run at is 15 rad/s.

Example 7.5 A linear-parabolic-blend spline

with two
The trajectory of a particularjoint of an n-DOF manipulator is specified time
via points (four path points) as q [15° 40 30 15°] and the travel
=

for the three segments in seconds are [3.0 2.0 3.0], respectively.
If the constant acceleration is assumed as 55 deg/s, calculate the blend time,
linear segment time t, and constant velocity for each segment assuming a inea
trajectory with parabolic blends.
Solution The segment time duration, velocity, and blend time duration d
calculated using Eqs. (7.25) through (7.35), as follows.
The blend duration at the startingis
T-T3-242-41)

or (7.87)
3.0-/3.02-2(40-15) = 0.156s
55
The constant velocities for the linear
segments are:
 280 Robotics and Control

3-DOF ARP arm

Example 7.6 Trajectory planning tor a
For the 3-DXOF manipulator arm discussed in Example 4.4, Fig.4.7designr
The initial & final position oftheend.c
trajectory with parabolic blends.
Cxpressed by homogeneous transformation matrices T, , & & 1, given bele
T, given bel,ffecta
ime taken for traversal is 5 seconds.
0.354 0.866 0.354 -0.106
-0.612 0.500 0.612 0.184
T, =0.7071 0.707 0.212 (793
0 0 1

0.583 0.766 0.272 0.027

0.694 0.643 0.324 0.032
T,0.423 0 0.906 0.091 (7.94
0 0
Solution The forward kinematic model for the 3-DOF RRP arm was obLaine

Example 4.4 and is given by Eq. (4.67)

as:
in
-CS -4,C%]
SC G-SS2 -dySSa 22 23 24
T (7.95)
S 0 C2 d,C2 32 33 34
0 0 1 o o 0 1
The inverse kinematics of the arm was also carried out in Example 4.4 and
solutions for the three joint variables were obtained as (see Eqs (4.71),(4.73)
and (4.74):
6 = A tan2(-2a -4)

= Atan2/ri + (7.96)
d =+rt tNe
For the initial position of the end-effector specified by T, Eq. (7.93),
feasible solution obtained in Example 4.4 is (see Eq. (4.75):
6=60°
(7.97)
6=45
d = 0.30 m
The joint variables corresponding to final position of the end-eftecto
specified by T, are:
6f=50°
(7.98)

e=-25°
d 0.10 m
=
inks,
te

, Now, plan to linear trajectory with the

parabolic blends for three(1.21
a
delault acceleration for each link should satisfy the constraint in
E4
 Trajectory Planning
4lg-'
(7.99)
link 1
for
a is,
t 4 x(50-(-60=
nat 17.6 orchoose = 20.0 deg/s?
(7.100)
for link
2 and link3
deg/s? -15.0
Simularly,

.2-11.2 orchoose 92
2-0032 orchoose iy =-0.05 m/s? (7.101)
Fhe trajectory (time-history) for each link is computed using the Eqs (7.20).
and (7.24).
(7.23)
1.22).
Forfirstlink

25 x20-4(50-(-60)
-163s
20 (7.102)
Therefore,

-60+10 0Sis163
g,0)=-86.57 +32.61 163S 337

50-10(5- 3.37<S 5.0

20 0Srs163
4,)={32.6 1.63 <r 3.37 (7.103)
20(5-1) 3.37 <1 S5.0

20 0SIS163
L63 <IS 337
-20 3.37<t5.0
For second link, with , = 5s and
9: =-15 deg/s
y2.5-25X(-15)-4-25-45)
-15 (7.104)
45+7.52 OSIS124
92(t)={56.53-18.6 1.24<t3.76
(-25+7.5(5-13.76<1s5.0
-15t OStS124
(t)=-18.6 1.24<3.76 (7.105)
-I5(5-1) 3.76<5.0
-15 0SS1.24
9,(0)={0 1.24<1S3.76
(5 3.76<1S5.0
 282 hobotics and Control

For third link, with , =5s and j ' =-0.05 m/s

h32.5- XO.05)-4(0.10-0.301
= ls
0.05
(7.106
0.3-0.0252 0SISI
43t)={0.325-0.05 1<ts4
0.10+0025(5-)? 4<rs5
(-0.05t
is()=0.05 1<Is4
|-005(5-1) 4<IS5
(-0.05 OSISI
(7.107
I<IS4
0.05 4<IS5

EXERCISES
7.1. A
one-degree of freedom manipulator with rotary joint is to move from
113" to 210 in 7 seconds. Find
the coefficients of the cubic
interpolate a smooth trajectory. Plot the polynomial o
variation as a function of time. position, velocity and acceleration
7.2. A
single cubic trajectory given by q(t) 30+P-6r is used for
=
of 3 seconds. Determine
starting and
penod a

accelerations of the end-effector. goal position, veloc1ty,

and

7.3. The
joint in Example 7.1 has initial
and final velocity of 1.0 degs
1.2deg/s at =
30° and 0 =105°, ai
trajectory polynomial for the
14. The
respectively. Determine tne 00th

position of the joint.

trajectory for a joint's motion between start and goal position in
pick-n-place operation is determined by dividing the motuon he two
motion in
segments. The interpolating
celeration is continuous polynomial for each segment is cubic and the
the two cubics. at the via point.
Determine
the coenms
fof
ients for
15.
motion of a
position, velocityjoint from start to goal position is specified in terms
and acceleration at
of

Segment. Determine the beginning and end of

the coefficients of the
a path

7.6. polynomial for

( q u i n t i c )

The trajectory forinterpolating the smooth trajectory fifth-degree

in the ment.
three point-to-point
segments and 4-3-4 motion betweenis two p That vided
a
int
ivided into
fist
Segments
position toisaliffourth ree
trajectory plan used. I is,
degree polynomial
the
m start

lift-off Pont, polynomial specifying

specitying uthe trajectory no
trajectory Seom
rajectory segment u
point; follo
followed by a cubic
polynomial
in the mid

trajectory is o
similar to tha fiithe set-down point and the last segments m