Trajectory Planning: Pick-and-Place Operations

  • Jorge Angeles
Part of the Mechanical Engineering Series book series (MES)

Abstract

The motions undergone by robotic mechanical systems should be, as a rule, as smooth as possible; i.e., abrupt changes in position, velocity, and acceleration should be avoided. Indeed, abrupt motions require unlimited amounts of power to be implemented, which the motors cannot supply because of their physical limitations. On the other hand, abrupt motion changes arise when the robot collides with an object, a situation that should also be avoided. While smooth motions can be planned with simple techniques, as described below, these are no guarantees that no abrupt motion changes will occur. In fact, if the work environment is cluttered with objects, whether stationary or mobile, collisions may occur. Under ideal conditions, a flexible manufacturing cell is a work environment in which all objects, machines and workpieces alike, move with preprogrammed motions that by their nature, can be predicted at any instant. Actual situations, however, are far from being ideal, and system failures are unavoidable. Unpredictable situations should thus be accounted for when designing a robotic system, which can be done by supplying the system with sensors for the automatic detection of unexpected events or by providing for human monitoring.

Keywords

Supporting Point Robot Motion Trajectory Planning Robotic Manipulator Cartesian Space 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media New York 1997

Authors and Affiliations

  • Jorge Angeles
    • 1
  1. 1.Department of Mechanical Engineering and Centre for Intelligent MachinesMcGill UniversityMontréalCanada

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