Dynamic trajectory optimization in real time for moving obstacles avoidance by a ten degrees of freedom manipulator

A method is addressed for real-time dynamics trajectory optimization of kinematically redundant manipulators. The considered task of trajectory planning is to teach interactively position and orientation of the tool-center point frame, which is fixed in the manipulator hand. Thereby the manipulator has to autonomously preserve explicitly formulated kinematic constraints such as moving obstacle avoidance, singularity avoidance, and box-constraints on joint positions as well as dynamic constraints like box-constraints on joint velocities, accelerations and motor torques. The key idea is to transform the resulting overall motion planning problem into a time series of point-to-point trajectory planning problems, which, in turn, may be formulated as parameter optimization problems, that can be efficiently solved in real-time by the numerical method of sequential quadratic programming. Since the approach does not require an inverse kinematics formulation it is feasible for manipulators with redundant kinematics.

Authors

• Maximilian Schlemmer
• Reinhard Finsterwalder
• Georg Grübel

Keywords

• Manipulator dynamics
• Trajectory
• Path planning
• Kinematics
• Optimization methods
• Real time systems
• Acceleration
• Humans
• Constraint optimization
• Robots
• Trajectory Optimization
• Real-time Optimization
• Optimization Problem
• Numerical Methods
• Joint Position
• Joint Motion
• Planning Problem
• Trajectory Planning
• Joint Velocity
• Motor Torque
• Position In Frame
• Kinematic Constraints
• Sequential Quadratic Programming
• Joint Acceleration
• Parametric Optimization Problem
• Real-time Trajectory
• Orientation Of Frame
• Discretion
• System Dynamics
• Linear Constraints
• Optimization Run
• Box Constraints
• Nonlinear Systems
• Joint Space
• Multi-objective Optimization
• Additional Constraints
• Acceptable Solution
• Cubic Spline
• Cartesian Space