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The method of minimal neighborhood: a new and most effective iterative method for minimum cost trajectory planning in robot manipulators

Published online by Cambridge University Press:  09 March 2009

Ignacy Duleba
Ignacy Duleba
Affiliation:
Institute of Engineering Cybernetics, Technical University of Wroclaw, Janiszewskiego 11/17, 50–372 Wroclaw, (Poland)
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Summary

In this paper a method of minimal neighborhood for cost optimal trajectory planning along prescribed paths is introduced. The method exploits the phase-plane approach. In the phase-plane, in an iterative procedure, subareas of search are built, called neighborings, which surround the current-best trajectory. In each iteration, in order to find the next-best trajectory, the dynamic programming (pruned to the subarea) is used. The method of minimal neighborhood makes the neighborings as small as possible and therefore speeds up computations maximally. The tests carried out on a model of the IRb-6 ASEA robot have shown that the method of minimal neighborhood is much faster than dynamic programming applied to the whole phase-plane, while preserving the quality of the resulting trajectory.

Keywords

Minimal neighborhoodTrajectory planningPrescribed pathsRobots
Type
Articles
Information
Robotica , Volume 13 , Issue 3 , May 1995 , pp. 297 - 304
Copyright
Copyright © Cambridge University Press 1995

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