A Real-Time Nearly Time-Optimal Point-To-Point Trajectory Planning Method Using Dynamic Movement Primitives

Klemens Springer; Hubert Gattringer; Christoph Stöger

doi:10.1109/RAAD.2014.7002244

A Real-Time Nearly Time-Optimal Point-To-Point Trajectory Planning Method Using Dynamic Movement Primitives

Klemens Springer, Hubert Gattringer, Christoph Stöger

Institute of Robotics

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

Abstract

This paper focuses on highly efficient real-time capable time-optimal trajectory planning for point-to-point motions. A method based on the concept of dynamic movement primitives is developed. Thereby an offline generated time-optimal point-to-point trajectory considering nonlinear physical constraints serves as reference for a movement primitive. Through variation of the goal position in a small range around the reference target, new nearly time-optimal point-to-point trajectories are obtained. For the required reconsideration of the physical constraints, a strategy is derived from a common minimum-time optimization problem formulation. Finally a comparison between this and existing real-time capable time-optimal trajectory planning methods is drawn using a six degree-of-freedom serial robot.

Original language	English
Title of host publication	IEEE Proceedings of the RAAD 2014
Editors	Ivana Budinska, Jan Ciganek, Stefan Havlik, Jaroslav Hricko, Stefan Kozak
Pages	89-94
Number of pages	6
ISBN (Electronic)	9781479967988
DOIs	https://doi.org/10.1109/RAAD.2014.7002244
Publication status	Published - Sept 2014

Fields of science

203015 Mechatronics
203022 Technical mechanics
202 Electrical Engineering, Electronics, Information Engineering
202035 Robotics
203013 Mechanical engineering

JKU Focus areas

Mechatronics and Information Processing

Access to Document

10.1109/RAAD.2014.7002244

Cite this

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title = "A Real-Time Nearly Time-Optimal Point-To-Point Trajectory Planning Method Using Dynamic Movement Primitives",

abstract = "This paper focuses on highly efficient real-time capable time-optimal trajectory planning for point-to-point motions. A method based on the concept of dynamic movement primitives is developed. Thereby an offline generated time-optimal point-to-point trajectory considering nonlinear physical constraints serves as reference for a movement primitive. Through variation of the goal position in a small range around the reference target, new nearly time-optimal point-to-point trajectories are obtained. For the required reconsideration of the physical constraints, a strategy is derived from a common minimum-time optimization problem formulation. Finally a comparison between this and existing real-time capable time-optimal trajectory planning methods is drawn using a six degree-of-freedom serial robot.",

author = "Klemens Springer and Hubert Gattringer and Christoph St{\"o}ger",

year = "2014",

month = sep,

doi = "10.1109/RAAD.2014.7002244",

language = "English",

isbn = "978-80-227-4219-1",

pages = "89--94",

editor = "Ivana Budinska and Jan Ciganek and Stefan Havlik and Jaroslav Hricko and Stefan Kozak",

booktitle = "IEEE Proceedings of the RAAD 2014",

}

A Real-Time Nearly Time-Optimal Point-To-Point Trajectory Planning Method Using Dynamic Movement Primitives. / Springer, Klemens; Gattringer, Hubert; Stöger, Christoph.
IEEE Proceedings of the RAAD 2014. ed. / Ivana Budinska; Jan Ciganek; Stefan Havlik; Jaroslav Hricko; Stefan Kozak. 2014. p. 89-94 7002244.

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

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N2 - This paper focuses on highly efficient real-time capable time-optimal trajectory planning for point-to-point motions. A method based on the concept of dynamic movement primitives is developed. Thereby an offline generated time-optimal point-to-point trajectory considering nonlinear physical constraints serves as reference for a movement primitive. Through variation of the goal position in a small range around the reference target, new nearly time-optimal point-to-point trajectories are obtained. For the required reconsideration of the physical constraints, a strategy is derived from a common minimum-time optimization problem formulation. Finally a comparison between this and existing real-time capable time-optimal trajectory planning methods is drawn using a six degree-of-freedom serial robot.

AB - This paper focuses on highly efficient real-time capable time-optimal trajectory planning for point-to-point motions. A method based on the concept of dynamic movement primitives is developed. Thereby an offline generated time-optimal point-to-point trajectory considering nonlinear physical constraints serves as reference for a movement primitive. Through variation of the goal position in a small range around the reference target, new nearly time-optimal point-to-point trajectories are obtained. For the required reconsideration of the physical constraints, a strategy is derived from a common minimum-time optimization problem formulation. Finally a comparison between this and existing real-time capable time-optimal trajectory planning methods is drawn using a six degree-of-freedom serial robot.

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U2 - 10.1109/RAAD.2014.7002244

DO - 10.1109/RAAD.2014.7002244

M3 - Conference proceedings

SN - 978-80-227-4219-1

SP - 89

EP - 94

BT - IEEE Proceedings of the RAAD 2014

A2 - Budinska, Ivana

A2 - Ciganek, Jan

A2 - Havlik, Stefan

A2 - Hricko, Jaroslav

A2 - Kozak, Stefan

ER -

A Real-Time Nearly Time-Optimal Point-To-Point Trajectory Planning Method Using Dynamic Movement Primitives

Abstract

Fields of science

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