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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 6, issue 2
Mech. Sci., 6, 163-171, 2015
https://doi.org/10.5194/ms-6-163-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue: Modelling and control of robots

Mech. Sci., 6, 163-171, 2015
https://doi.org/10.5194/ms-6-163-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.

Research article 01 Sep 2015

Research article | 01 Sep 2015

B-spline parameterized optimal motion trajectories for robotic systems with guaranteed constraint satisfaction

W. Van Loock, G. Pipeleers, and J. Swevers W. Van Loock et al.
  • Department of Mechanical Engineering, Division PMA, KU Leuven, 3001 Leuven, Belgium

Abstract. When optimizing the performance of constrained robotic system, the motion trajectory plays a crucial role. In this research the motion planning problem for systems that admit a polynomial description of the system dynamics through differential flatness is tackled by parameterizing the system's so-called flat output as a polynomial spline. Using basic properties of B-splines, sufficient conditions on the spline coefficients are derived ensuring satisfaction of the operating constraints over the entire time horizon. Furthermore, an intuitive relaxation is proposed to tackle conservatism and a supporting software package is released. Finally, to illustrate the overall approach and potential, a numerical benchmark of a flexible link manipulator is discussed.

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In this research the motion planning problem for systems that admit a polynomial description of the system dynamics through differential flatness is tackled by parameterizing the system's so-called flat output as a piecewise polynomial. Sufficient conditions on the spline coefficients are derived ensuring satisfaction of the operating constraints over the entire time horizon and an intuitive relaxation is proposed to tackle conservatism.
In this research the motion planning problem for systems that admit a polynomial description of...
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