Time-optimal and energy-efficient trajectory generation for robot manipulator with kinematic constraints

He Lyu; Xiangbao Song; Dan Dai; Jiangang Li; Zexiang Li

doi:10.1109/COASE.2017.8256154

Time-optimal and energy-efficient trajectory generation for robot manipulator with kinematic constraints

He Lyu
, Xiangbao Song
, Dan Dai
, Jiangang Li
, Zexiang Li

Hong Kong University of Science and Technology
Ltd
Harbin Institute of Technology Shenzhen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

This paper designs an algorithm to generate time-optimal and energy-efficient trajectory for manipulators along a predefined geometric path. The path is first parameterized by cubic spline, then the trajectory generation problem is transformed into a nonlinear optimization problem with single state variable. After discretization, Sequence quadratic programming(SQP) method is applied for optimal solution. Finally, applications to a 6-DoF manipulator along different paths demonstrates the feasibility of the proposed method.

Original language	English
Title of host publication	2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017
Publisher	IEEE Computer Society
Pages	503-508
Number of pages	6
ISBN (Electronic)	9781509067800
DOIs	https://doi.org/10.1109/COASE.2017.8256154
State	Published - 1 Jul 2017
Externally published	Yes
Event	13th IEEE Conference on Automation Science and Engineering, CASE 2017 - Xi'an, China Duration: 20 Aug 2017 → 23 Aug 2017

Publication series

Name	IEEE International Conference on Automation Science and Engineering
Volume	2017-August
ISSN (Print)	2161-8070
ISSN (Electronic)	2161-8089

Conference

Conference	13th IEEE Conference on Automation Science and Engineering, CASE 2017
Country/Territory	China
City	Xi'an
Period	20/08/17 → 23/08/17

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10.1109/COASE.2017.8256154

Cite this

Lyu, H., Song, X., Dai, D., Li, J., & Li, Z. (2017). Time-optimal and energy-efficient trajectory generation for robot manipulator with kinematic constraints. In 2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017 (pp. 503-508). (IEEE International Conference on Automation Science and Engineering; Vol. 2017-August). IEEE Computer Society. https://doi.org/10.1109/COASE.2017.8256154

@inproceedings{9a88404407134726acf1d297272ac1a7,

title = "Time-optimal and energy-efficient trajectory generation for robot manipulator with kinematic constraints",

abstract = "This paper designs an algorithm to generate time-optimal and energy-efficient trajectory for manipulators along a predefined geometric path. The path is first parameterized by cubic spline, then the trajectory generation problem is transformed into a nonlinear optimization problem with single state variable. After discretization, Sequence quadratic programming(SQP) method is applied for optimal solution. Finally, applications to a 6-DoF manipulator along different paths demonstrates the feasibility of the proposed method.",

author = "He Lyu and Xiangbao Song and Dan Dai and Jiangang Li and Zexiang Li",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 13th IEEE Conference on Automation Science and Engineering, CASE 2017 ; Conference date: 20-08-2017 Through 23-08-2017",

year = "2017",

month = jul,

day = "1",

doi = "10.1109/COASE.2017.8256154",

language = "英语",

series = "IEEE International Conference on Automation Science and Engineering",

publisher = "IEEE Computer Society",

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booktitle = "2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017",

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Lyu, H, Song, X, Dai, D, Li, J & Li, Z 2017, Time-optimal and energy-efficient trajectory generation for robot manipulator with kinematic constraints. in 2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017. IEEE International Conference on Automation Science and Engineering, vol. 2017-August, IEEE Computer Society, pp. 503-508, 13th IEEE Conference on Automation Science and Engineering, CASE 2017, Xi'an, China, 20/08/17. https://doi.org/10.1109/COASE.2017.8256154

Time-optimal and energy-efficient trajectory generation for robot manipulator with kinematic constraints. / Lyu, He; Song, Xiangbao; Dai, Dan et al.
2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017. IEEE Computer Society, 2017. p. 503-508 (IEEE International Conference on Automation Science and Engineering; Vol. 2017-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Song, Xiangbao

AU - Dai, Dan

AU - Li, Jiangang

AU - Li, Zexiang

PY - 2017/7/1

Y1 - 2017/7/1

N2 - This paper designs an algorithm to generate time-optimal and energy-efficient trajectory for manipulators along a predefined geometric path. The path is first parameterized by cubic spline, then the trajectory generation problem is transformed into a nonlinear optimization problem with single state variable. After discretization, Sequence quadratic programming(SQP) method is applied for optimal solution. Finally, applications to a 6-DoF manipulator along different paths demonstrates the feasibility of the proposed method.

AB - This paper designs an algorithm to generate time-optimal and energy-efficient trajectory for manipulators along a predefined geometric path. The path is first parameterized by cubic spline, then the trajectory generation problem is transformed into a nonlinear optimization problem with single state variable. After discretization, Sequence quadratic programming(SQP) method is applied for optimal solution. Finally, applications to a 6-DoF manipulator along different paths demonstrates the feasibility of the proposed method.

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Y2 - 20 August 2017 through 23 August 2017

ER -

Time-optimal and energy-efficient trajectory generation for robot manipulator with kinematic constraints

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