Robot path planning using dynamic programming

摘要: This paper presents a solution to the problem of minimizing cost moving robotic manipulator along specified geometric path subject input torque/force constraints, taking coupled, nonlinear dynamics into account. The proposed method uses dynamic programming (DP) find positions, velocities, accelerations, and torques that minimize cost. Since use parametric functions reduces dimension state space from 2n for an n-jointed two, DP does not suffer "curse dimensionality". While maintaining elegance planning methods in [1], [11], offers advantages it can be used general case where (i) actuator torque limits are dependent on one another, (ii) have arbitrary form, (iii) there constraints jerk, or derivative acceleration. As numerical example, is simulated two-jointed manipulator. example considers first minimum-time problem, comparing with phase plane plot [11]. Secondly, sensitivity solutions grid size examined. Finally, applied cases interactions between joint bounds other than minimum-time, demonstrating its power flexibility.