TY - GEN
T1 - Trajectory planning for manipulators based on the optimal concatenation of LQ control primitives
AU - Steinegger, Michael
AU - Passenberg, Benjamin
AU - Leibold, Marion
AU - Buss, Martin
PY - 2011
Y1 - 2011
N2 - A trajectory planning method for robotic systems consisting of kinematic chains is introduced based on the concatenation of control primitives. The parameterized, optimal motion primitives are derived from a parametric, linear-quadratic optimal control problem, which is formulated for the input-to-state and input-to-output linearized robot dynamics. The primitives can be concatenated, such that the resulting trajectory is optimal with respect to desired intermediate points. Here, sub-optimal intermediate points are found by a heuristic motion planning algorithm and are iteratively inserted, if necessary, to avoid collisions with obstacles in the robot workspace. All parameters for concatenated primitives are uniquely determined by the solution of a system of parameterized linear equations. In comparison to ordinary approaches based on optimal control, the computational effort for trajectory planning is reduced, since the system of linear equations can be solved on-line by algebraic computations.
AB - A trajectory planning method for robotic systems consisting of kinematic chains is introduced based on the concatenation of control primitives. The parameterized, optimal motion primitives are derived from a parametric, linear-quadratic optimal control problem, which is formulated for the input-to-state and input-to-output linearized robot dynamics. The primitives can be concatenated, such that the resulting trajectory is optimal with respect to desired intermediate points. Here, sub-optimal intermediate points are found by a heuristic motion planning algorithm and are iteratively inserted, if necessary, to avoid collisions with obstacles in the robot workspace. All parameters for concatenated primitives are uniquely determined by the solution of a system of parameterized linear equations. In comparison to ordinary approaches based on optimal control, the computational effort for trajectory planning is reduced, since the system of linear equations can be solved on-line by algebraic computations.
UR - http://www.scopus.com/inward/record.url?scp=84860653918&partnerID=8YFLogxK
U2 - 10.1109/CDC.2011.6160887
DO - 10.1109/CDC.2011.6160887
M3 - Conference contribution
AN - SCOPUS:84860653918
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2837
EP - 2842
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -