Boeing's Phil Freeman presents “Minimum Jerk Planning for Trajectory Constrained Redundant Robots” as part of the IRIM Robotics Seminar Series. The event will be held in the TSRB Banquet Hall from 12-1 p.m. and is open to the public.
Many industrial robotic tasks involve moving a manipulator along a defined trajectory where both the path and the velocity are constrained to ensure process quality. Examples are processes like water-jet cutting, composite fiber placement, and robotic sealing. For high dynamic trajectories, a redundant manipulator consisting of a low bandwidth macro-manipulator and high bandwidth mini-manipulator can preserve the high dynamic trajectory requirements while maintaining the large work envelope of the macro manipulator. My talk presents an efficient global solution to the redundancy resolution problem, with the goal of minimizing the integral jerk of the actuators. Minimum jerk trajectories are advantageous for minimizing structural oscillations and improving the smoothness of control. The method presented achieves up to 75% reduction in integral jerk and 98% reduction in peak jerk vs. a greedy approach, while being embarrassingly parallel making it suitable for a high performance computing implementation. Additionally, a simple real-time controller is presented that maintains the planned low jerk trajectories given task-space feedback on the trajectory following error.
Phil Freeman is a technical fellow with Boeing Research and Technology. He works in the newly opened BR&T Technology Center in Charleston, South Carolina as part of the Advanced Production Systems group. His work is focused on developing advanced industrial robotics and automation for aerospace manufacturing. The Advanced Production Systems team includes Assembly Automation, Measurement Technology, Human Factors, and Lean Production Systems.