TRAJECTORY PLANNING

4.1 Introduction

 Path and trajectory planning means the way that a robot

is moved from one location to another in a controlled
manner.
 The sequence of movements for a controlled movement

between Motion segment, in straight-line motion or in

sequential motions.
 It requires the use of both kinematics and dynamics of
robots.
4.2 Path VS. Trajectory

 Path: A sequence of robot configurations in a

particular order without regard to the timing of these
configurations.
 Trajectory: It concerned about when each part of the
path must be attained, thus specifying timing.

Fig. 4.1 Sequential robot movements in a path

4.3 Joint-space VS. Cartesian-space Descriptions
 Joint-space description:
- The description of the motion to be made by the robot by its joint
values.
- The motion between the two points is unpredictable.
 Cartesian space description:
- The motion between the two points is known at all times and
controllable.
- It is easy to visualize the trajectory, but is difficult to ensure that
singularity.

Fig. 4.3 Cartesian-space trajectory (a) The trajectory specified in

Fig. 4.2 Sequential motions of a
Cartesian coordinates may force the robot to run into itself, and
robot to follow a straight line.
(b) the trajectory may requires a sudden change in the joint
angles.
4.4 Basics of trajectory planning
 Let’s consider a simple 2 degree of freedom robot.
 We desire to move the robot from Point A to Point B.
 Let’s assume that both joints of the robot can move at the
maximum rate of 10 degree/sec.
 Let’s assume that both joints of the robot can move at the
maximum rate of 10 degree/sec.
 Move the robot from A to B, to run
both joints at their maximum angular
velocities.
 After 2 [sec], the lower link will have
finished its motion, while the upper
link continues for another 3 [sec].
 The path is irregular and the
distances traveled by the robot’s end
Fig. 4.4 Joint-space nonnormalized are not uniform.
movements of a robot with two degrees
of freedom.
4.4 Basics of trajectory planning
 Let’s assume that the motions of both joints are
normalized by a common factor such that the joint with
smaller motion will move proportionally slower and the
both joints will start and stop their motion
simultaneously.

 Both joints move at different

speeds, but move continuously
together.

 The resulting trajectory will

be different.
Fig. 4.5 Joint-space, normalized
movements of a robot with two
degrees of freedom.
4.4 Basics of trajectory planning
 Let’s assume that the robot’s hand follow a known path between point
A to B with straight line.
 The simplest solution would be to draw a line between points A and B,
so called interpolation.

 Divide the line into five

segments and solve for
necessary angles  and  at
each point.
 The joint angles are not
uniformly changing.
Fig. 4.6 Cartesian-space movements
of a two-degree-of-freedom robot.
4.4 Basics of trajectory planning
 Let’s assume that the robot’s hand follow a known path between
point A to B with straight line.
 The simplest solution would be to draw a line between points A
and B, so called interpolation.
 It is assumed that the robot’s
actuators are strong enough to
provide large forces necessary to
accelerate and decelerate the joints
as needed.
 Divide the segments differently.
 The arm move at smaller segments as
we speed up at the beginning.
 Go at a constant cruising rate.
 Decelerate with smaller segments as
approaching point B.
Fig. 4.7 Trajectory planning with an
acceleration-deceleration regiment.
4.4 Basics of trajectory planning
 Next level of trajectory planning is between multiple points for
continuous movements.
 Stop-and-go motion create jerky motions with unnecessary stops.
 Blend the two portions of the motion at point B.
 Specify two via point D and E before and after point B

Fig. 4.9 An alternative scheme for ensuring that

the robot will go through a specified point
Fig. 4.8 Blending of different motion during blending of motion segments. Two via
segments in a path. points D and E are picked such that point B
will fall on the straight-line section of the
segment ensuring that the robot will pass
through point B.
4.5 JOINT-SPACE TRAJECTORY PLANNING
4.5.1 Third-Order Polynomial Trajectory Planning
 How the motions of a robot can be planned in joint-space with
controlled characteristics.
 Polynomials of different orders
 Linear functions with parabolic blends
 The initial location and orientation of the robot is known,
and using the inverse kinematic equations, we find the final
joint angles for the desired position and orientation.

 (t ) c0  c1t  c2t 2  c3t 3  (ti ) c0  i

 (t ) c1  2c2t  3c3t 2
 (ti )  i  (t f ) c0  c1t f  c2t 2f  c3t 3f
 (ti ) c1 0
 (t f )  f  First derivative
of the polynomial  (t f ) c1  2c2t f  3c3t 2f 0
 (t ) 0
i

 (t f ) 0 of equation
 Substituting the
 Initial Condition initial and final
conditions
Example
 It is desired to have the first joint of a six-axis robot go from
initial angle of 30o to a final angle of 75o in 5 seconds. Using a
third-order polynomial, calculate the joint angle at 1, 2 3, and
4 seconds.

 (t ) c0  c1t  c2t  c3t 2 3

 (0) c0 30

 (0) c1 0
4.5 Joint-space trajectory planning
4.5.2 Fifth-Order Polynomial Trajectory Planning
 Specify the initial and ending accelerations for a segment.
 To use a fifth-order polynomial for planning a trajectory, the
total number of boundary conditions is 6.
 Calculation of the coefficients of a fifth-order polynomial
with position, velocity and a acceleration boundary
conditions can be possible with below equations.

 (t ) c0  c1t  c2t  c3t  c4t  c5t

2 3 4 5


 (t ) c1  2c2t  3c3t 2

(t ) 2c2  6c3t  12c4t 2  20c5t 3

.5 Joint-space trajectory planning
4.5.3 Linear Segments with Parabolic Blends
 Linear segment can be blended with parabolic sections at the
beginning and the end of the motion segment, creating continuous
position and velocity.
 Acceleration is constant for the parabolic sections, yielding a
continuous velocity at the common points A and B.

Fig. 4.13 Scheme for linear segments with

parabolic blends.
 1
 (t ) c0  c1t  c2t 2
2
 (t ) c1  c2t

(t ) c2

1
 (t )  i  c2t 2
2
 (t ) c2t
(t ) c2
4.5 JOINT-SPACE TRAJECTORY PLANNING
4.5.5 Higher Order Trajectories
 Incorporating the initial and final boundary conditions
together with
this information enables us to use higher order polynomials in
the  (t ) c0  c1t  c2t 2  c3t 3    cn  1t n  1  cnt n
below form, so that the trajectory will pass through all
It requires
specified extensive calculation for each joint and higher
points.
order
polynomials.

 Combinations of lower order polynomials for different

segments of the
trajectory and blending together to satisfy all required
boundary
conditions is required.
4.6 CARTESIAN-SPACE TRAJECTORIES
 Cartesian-space trajectories relate to the motions of a robot
relative to
the Cartesian reference frame.
 In Cartesian-space, the joint values must be repeatedly
calculated 

through the inverse kinematic equations of the robot.

 Computer Loop
Algorithm
(1) Increment the time by t=t+t.
(2) Calculate the position and orientation of the hand based on the selected
function for the trajectory.
(3) Calculate the joint values for the position and orientation through the
inverse kinematic equations of the robot.
(4) Send the joint information to the controller.
(5) Go to the beginning of the loop