Trajectory Planning with Ordered Acceleration Profiles
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotics face challenges in planning smooth, time-optimal trajectories that respect motion constraints like velocity and acceleration limits, especially when starting or ending velocities are non-zero, and when synchronizing motion across degrees of freedom, while also requiring real-time recalculations for dynamic target positions.
Innovation Solution
A computer-implemented method that uses ordered sequences of movement profiles with phases of increasing and decreasing acceleration to plan trajectories, allowing for the identification of minimum time solutions and handling scenarios with non-zero target velocities and time-varying target positions, by obtaining and evaluating sequences of movement profiles that include both positive and negative profiles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a time-optimal trajectory is planned to complete motion in minimum time, then productivity is improved, but motion constraints such as velocity and acceleration limits may be violated
Solution Approach 1:
The trajectory planning problem is segmented into multiple phases based on the sign of acceleration (positive acceleration phases and negative acceleration phases). Each phase represents a distinct motion segment with specific acceleration characteristics, allowing the system to systematically construct time-optimal trajectories while respecting velocity and acceleration constraints through phased progression
2Adaptability or versatility
If the trajectory planning method uses a comprehensive set of movement profiles to cover all possible motion scenarios, then adaptability is improved, but device complexity increases
Solution Approach 1:
Instead of using complex decision trees to select appropriate movement profiles, the invention inverts the approach by generating ordered sequences of profiles based on acceleration sign patterns. This systematic generation method covers all necessary motion scenarios without requiring complex selection logic, thereby reducing computational complexity while maintaining comprehensive adaptability
3Adaptability or versatility
If real-time trajectory recalculation is performed in response to new target positions, then adaptability is improved, but computing time increases
Solution Approach 1:
The method performs preliminary organization of movement profiles into ordered sequences based on acceleration characteristics before actual trajectory execution. This pre-processing allows the system to quickly retrieve and adapt appropriate profiles during real-time operations, significantly reducing the computational time required for on-the-fly trajectory recalculation when new targets are introduced
Data Source
AI summary
A computer readable medium causing a computer to planning of a trajectory for an object that is capable of controlled movement in one or more degrees of freedom. At least one ordered sequence of movement profiles is obtained. The at least one ordered sequence includes: (i) movement profiles that end with a phase of increasing acceleration and (ii) movement profiles that end with a phase of decreasing acceleration. The ordered sequence is evaluated to select a movement profile capable of achieving a desired state of movement. The trajectory of the object is planned based on the selected movement profile.