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Real-time time-optimal continuous multi-axis trajectory planning using the trajectory index coordination method.

Suqin He1, Chuxiong Hu1, Shize Lin1

  • 1State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China; Beijing Key Laboratory of Precision/Ultra-Precision Manufacture Equipments and Control, Tsinghua University, Beijing 100084, China.

ISA Transactions
|June 6, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a new real-time trajectory planning framework, TOS-TIC, for multi-axis systems. It achieves near-optimal time performance for continuous paths, outperforming existing real-time methods.

Keywords:
Real-time motion planningState feedbackTime-optimal controlTrajectory planning

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Area of Science:

  • Robotics and Automation
  • Control Systems Engineering
  • Manufacturing Technology

Background:

  • Real-time trajectory planning is crucial for applications like robotics and autonomous vehicles.
  • Existing methods are either computationally intensive (non-real-time) or sacrifice optimality (real-time).
  • A gap exists for computationally efficient, time-optimal planning of continuous multi-axis trajectories.

Purpose of the Study:

  • To propose an innovative framework for real-time, time-optimal trajectory planning for continuous multi-axis paths.
  • To address the limitations of current real-time planning methods in terms of optimality and trajectory type.
  • To enable high-frequency real-time applications with precise trajectory control.

Main Methods:

  • Introduced the time-optimal switching trajectory index coordination (TOS-TIC) framework.
  • Developed a method to coordinate one-axis optimal switching controls for multi-axis paths.
  • Incorporated axial velocity and acceleration constraints into the planning process.

Main Results:

  • TOS-TIC generates time-optimal trajectories for continuous paths with performance comparable to offline methods.
  • The framework is computationally efficient, suitable for real-time applications up to 5kHz.
  • Experimental results on a biaxial linear motor stage showed TOS-TIC outperforms the real-time lookahead method in speed.

Conclusions:

  • The TOS-TIC framework effectively solves the real-time time-optimal planning problem for continuous multi-axis trajectories.
  • It offers a significant advancement over existing real-time methods, balancing speed and optimality.
  • The method demonstrates practical viability and superior performance in industrial applications.