Model Based Trajectory Planning Using Preview

Vincent Hayward; Laeeque Daneshmend; Ajit Nilakantan

doi:10.1117/12.949072

27 October 1988 Model Based Trajectory Planning Using Preview

Vincent Hayward, Laeeque Daneshmend, Ajit Nilakantan

Proceedings Volume 1006, Space Station Automation IV; (1988) https://doi.org/10.1117/12.949072
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

The control of manipulators is seen here as a two level process. A method is described to convert information available at the programming level into trajectories suitable to be tracked by a servo control system. The goal of the servo is to absorb the unmodeled dynamics. Tracking accuracy will depend mainly on the acceleration demand of the nominal trajectory setpoint, in particular, the actuator output demand must remain bounded. Our scheme adaptively takes into consideration at the trajectory computation level the dynamics of the underlying system, dynamically available information acquired through sensors, various types of constraints, such as path accuracy, and manipulator optimization. This scheme is meant to be implemented on-line, to drive mechanical systems such as manipulators. It is developed in the context of a multi-manipulator programming and control environment for space applications developped as part of a collaborative effort between McGill University and the Jet Propulsion Laboratory.

Citation Download Citation

Vincent Hayward, Laeeque Daneshmend, and Ajit Nilakantan "Model Based Trajectory Planning Using Preview", Proc. SPIE 1006, Space Station Automation IV, (27 October 1988); https://doi.org/10.1117/12.949072

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available