NEAR-TIME OPTIMAL ROBOT MOTION PLANNING FOR ONLINE APPLICATIONS

Solving current formulations of the time-optimal point-to-point motion problem for robotic manipulators is a computationally intensive task. Thus, mast existing solutions are not suitable for on-line motion planning applications, such as the interception of moving targets, where time-optimality of the motion is advantageous. A novel technique is proposed in this article that separates the time-optimal point-to-point motion problem into the following two sub-problems: (1) selection of a near-time-optimal path between the two endpoints, and (2) generation of time-optimal motion along the selected path (i.e., constrained continuous path motion). Although our approach uses known path-constrained time-optimal-motion algorithms for the second sub-problem, a new method is proposed for the selection of near-time-optimal paths. Based on a study of the characteristics of global-time-optimal paths, the near-optimal path is selected as a minimum-curvature joint spline, tangent to one of the manipulator's acceleration directions at the start point, and tangent to the required manipulator velocity direction at the end point. The algorithm for determining the overall near-optimal path is described herein, along with an example. Simulation test results and computation-time studies indicate that the proposed method is suitable for on-line motion planning applications. (C) 1995 John Wiley & Sons, Inc.