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Proceedings Paper

Model Based Trajectory Planning Using Preview
Author(s): Vincent Hayward; Laeeque Daneshmend; Ajit Nilakantan
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Paper Abstract

The control of manipulators is seen here as a two level process. A method is described to convert information available at the programming level into trajectories suitable to be tracked by a servo control system. The goal of the servo is to absorb the unmodeled dynamics. Tracking accuracy will depend mainly on the acceleration demand of the nominal trajectory setpoint, in particular, the actuator output demand must remain bounded. Our scheme adaptively takes into consideration at the trajectory computation level the dynamics of the underlying system, dynamically available information acquired through sensors, various types of constraints, such as path accuracy, and manipulator optimization. This scheme is meant to be implemented on-line, to drive mechanical systems such as manipulators. It is developed in the context of a multi-manipulator programming and control environment for space applications developped as part of a collaborative effort between McGill University and the Jet Propulsion Laboratory.

Paper Details

Date Published: 27 October 1988
PDF: 8 pages
Proc. SPIE 1006, Space Station Automation IV, (27 October 1988); doi: 10.1117/12.949072
Show Author Affiliations
Vincent Hayward, McGill University (Canada)
Laeeque Daneshmend, McGill University (Canada)
Ajit Nilakantan, McGill University (Canada)

Published in SPIE Proceedings Vol. 1006:
Space Station Automation IV
Wun C. Chiou Sr., Editor(s)

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