Path Control in Robotics

ME 4135
Lecture series 8
Richard R. Lindeke, Ph. D.

Motion Types of Interest

Point to Point Motion:

All Axes start and end simultaneously

All Geometry is computed for targets and relevant
Joint changes which are then forced to be followed
during program execution

Path or Trajectory Controller Motion

Here the motion is performed through a time

sequence of intermediate configurations computed
ahead of time (like above but without stop-start
operation) or in real time
Paths are Space Curves for the n-Frame to follow
This motion is a continuous scheme to move the TCP
from one location to the next along a desired (straight
or curved) line under direct operational control

Path Control and Motion

Types:

We will explore the following types of Motion:

Lead Through Path Creation

(Cubic) Polynomial Paths w/ Via Points
Minimum Time Trajectory w/ controlled
Acceleration
Lower order Path-Poly Control

LSPB Paths
Craigs Method for acceleration smoothing
Strict Velocity Control

Joint Interpolated Control

Full Cartesian Control

Lead Through Path

Creation

Basically this was a technique whereby a skilled operator

took a robot arm (for welding or painting) and used it like
his/her weld tool or paint sprayer and performed the required
process at reasonable speed

The robot is equipped with a position recording device and

memorizes a large number of points during the teaching
session
These learned points then would be played back to
replicate the skilled operators motions

Lead Through Path

Creation

Advantages:

Simple way to create complex paths

All points are sure to be physically attainable
Playback speed can be controlled by an external
device

Disadvantages:

Precision placements are required (program must

be replayed at exactly the initial placement)
Major concern with operator safety: robot is
powered and operator is physically touching it
(OSHA rules it unsafe practice!)

Modern Path Control:

(Lets look at a simple example)

Dr. Ds new Self-powered Automated Coffee

Drinker Robot
It is a simple cantilevered Cartesian device
equipped with a spherical wrist that responds
to eye movement and thoughts to help the
overworked design engineer get coffee while
designing and drafting & typing of Reports
It follows a straight line path from the cups
point on a table to the workers mouth in
second

Lets look at a simple

example:

Lets look at a simple

example:

We see that the Bot must travel a space

path of 16.45 which can be decomposed
into a movement of 9.5 along each of the
prismatic joints

For accuracy lets divide each of the these

joint paths into 100 segments

From Physics: Vjoint d/ t = (9.5/100)/(.5/100)

= 19in/second (a reasonable speed!)

Lets look at a simple

example:

During the 1st Step then:

Joint 1 starts at 0 and moves to 0.095

Moves there in 0.005 seconds
How will it do it?
Of course by Accelerating from a stop to 19
in/sec in 0.005 seconds
Compute Accreqr V/t
Darn this says that
the acceleration is
3800in/sec2 this is
10G!!!!!

Lets look at a simple

example:

So this will certainly be difficult to

accomplish! (more likely it will not work)
OSHA would be just as upset as when we had
the worker holding on to the powered robot
what should we do?
I think our approach is too nave!
If we examine the Pos vs. Time, Vel Vs. Time
and Acc vs. Time plots we may see why:

Look at a simple
examples Trajectory
Curves:

This is Physically Impossible

(or rather very energy
intensive)

Can we build a reasonable solution

that keeps the acceleration to an
achievable level?
What this would mean is we
wouldnt instantly in one time
step go from stopped to full speed
This can be achieved with a time
polynomial model of motion

Building a Path Polynomial

Motion Set
q t a0 a1t a2t a3t L
2

dq
2
q& t a1 2a2t 3a3t L
dt
2
d q
& t 2 2a2 6a3t L
q&
dt
These are the trajectory
equations for a joint (Position,
Velocity and Acceleration)

Solving the Path Polynomial is a

matter of finding ais for SPECIFIC
PATHS

We would have boundary conditions

for position and velocity at both ends
of the path
We would have the desired total time
of travel
Using these conditions we can solve
for a0, a1, a2 and a3 to build a 3rd order
path polynomial for the required
motion

Solving the Path Polynomial is a

matter of finding ais for specific
paths

q0 a0 a1t0 a t a t
2
2 0

3
3 0

q&0 a1 2a2t0 3a t

2
3 0

q f a0 a1t f a t a t
2
2 f

3
3 f

q&f a1 2a2t f 3a t

2
3 f

Polys holding at
starting time and
position

Polys holding at
ending time and
position

Solving the Path Polynomial is a

matter of finding ais for specific
paths

Writing these as Matrix Forms:

1 t0

0
1

1 tf

0 1

2
0

t
2t0
2
tf
2t f

t
q0
a0

q&

a1
3t
0

q f
a2
t

&
q
a
3t

3
f
3
0
2
0
3
f
2
f

Solving the Path Polynomial is a

matter of finding ais for specific
paths

If we set t0 = 0 (starting time is when

we start counting motion!) then:

1 0
0 1

1 tf

0 1

0
0
2
tf
2t f

0
a0

0
a
1
3
tf
a2

2
3t f
a3

q0
q&
0

qf

q&f

By examination, a0 = q0 & a1 = q0(dot)

Solving the Path Polynomial is a

matter of finding ais for specific
paths

Completing the solution consists of forming

relationships for: a2 & a3

Done by substituting a0 & a1 values and

solving the last two equation simultaneously:

Be Careful and
note the order of
the positions and
velocities!

a2

3 q

a3

2 q

q0 t f 2q&0 q&f

q f t f q&f q&0

t 2f

t 3f

Applying it to the Coffee

Bot

Start: X = 0; v = 0 @ time = 0
End: X = 9.5; v = 0 @ time = .5
sec
a0 = 0 ; a1 = 0
a2 = (3 * 9.5)/(0.52) = 114
a3 = (2 *(- 9.5))/(0.53) = -152

Applying it to the Coffee

Bot

Here
(specifically):

qi 0 0ti 114t (152)t

2
i

q&i 0 2(114)ti 3(152)t

&
q&

2(114)

6(

152)
t
i
i

2
i

3
i

Applying it to the Coffee

Bot

Simplifying:

qi 114t 152t
2
i

3
i

q&i 228ti 456t

&
q&

228

912
t
i
i

2
i

Applying it to the Coffee

Bot: Position
Position vs.
Time

Applying it to the Coffee

Bot: Velocity

Joint Velocity Vs.

Time

Applying it to the Coffee

Bot: Acceleration

Acceleration Vs.
Time

Applying it to the Coffee

Bot

Using the Path Polynomial Approach:

Max Velocity is: 28.5 in/sec (compares to 19
in/sec)
Max Acceleration is: 228 in/sec2 (.6 g) compared
to 10 g
But, in this method, I require a 100% duty cycle
motor since throughout the entire path, the motor
is accelerating (either with positive or negative
orientation)
Can we make a path solution where we accelerate
Turns out we can and
for only part of the path?
we will call it LSPB!

Studying the LSPB model

In this model, we will carry forward with a

parabolic model
In this model, we will determine a time
where we will blend from startup until we
reach a constant velocity (and its greater
than 1/100 of the total time!)
Here we will see an acceleration followed by
a period of coasting and then deceleration
(often called a trapezoidal velocity model)

Model Building:

We must define an acceleration constraint (minimum

value) such that the acceleration guaranteed to be
completed within half of the allocated time period of
the travel:
qB q A 4 qB q A

&
&
qmin

2
2
t
t
2
based on solving:
This assures
that there is
&
&2
Pos 1 qt
2
no overlap for
the BLEND
at: t t (half time)
2

qB q A

we want: Pos =
2

Regions

Looking at the motion over

the various regions:

During Region 1 (while the joint is Accelerating)

(time interval 0 to tblend [tb]) the Joint moves:
q = (V/2)*tb

tb is the acceleration time

During the region of Constant Velocity the Joint

moves: q = V*(t 2tb)

During Region 3 -- while the joint is decelerating

the joint moves: q = (V/2)*tb

Total travel distance is qB - qA

Writing a motion
equation:
qB q A q0tb qtb t tb q t tb t
qB q A V tb V t 2tb V tb
2
2
qB q A Vt 2Vtb Vtb Vt Vtb
BUT :
&
&b
V qt

Substituting and Isolating

the Unknown (blend time):

&
& tb qt
&
&
qB q A qt

2
b

reforming:

&
& qt
&
& tb qB q A 0
qt
2
b

This is a quadratic equation in tb

Solving for tb:

&
&
qt

&
&
qt

tb t
2

&
&
qt

& q A qB
4q&

&
2q&
2

& qB q A
4q&
&
2q&

Note:
Acceleration is
subject to above
constraint

Applying it to the Coffee

Bot

Acceleration constraint:
gg
4 9.5 0
2
q

152
in
/
sec
0.4 g
2
.5
gg

lets ' pick ' q 175in / sec 2

Blend time:tb .25

.25 175

4 175 9.5

2 175

1006.25
.25
.25 0.091
350
tb .25 0.091 .159sec

Applying it to the Coffee

Bot

tlinear=.5 2*0.159 = 0.181 s

Linear Velocity:

Positions:
By t , Joint moves: (27.89/2)*.159 = 2.222 in
b

During linear velocity joint moves: 0.181*27.89

= 5.055 in (thus the pos = 7.277)

During deceleration joint travels 2.222 in

Adding them gives full travel distance: 2.222 +

5.055 + 2.222 in 9.5in

& tb 175 .159 27.89 in/sec

Vlin q&

Plotting the Path

trajectory:

Notice: the
accelerator is
off during the
linear travel
segment

The 2 Previous Path Control

Methods focused on
Start/Stopping Approaches

What can we do if we desire to travel by G12

methods continuing along a path w/o stopping?

Here we will focus on a method called dog-tracking

after the lead and follow techniques employed in
dog racing

Essentially we would have a situation where the

path is laid out (as a series of Via Points) and the
joints smoothly maneuver through and between
them

Craigs Dog Tracking

Method

Craigs Dog Tracking

Method

Upon Examination of the motion, we find

that there are three regimes in the motion
These are:

Start up regime
Intermediate regimes
Stopping regime

Starting and Stopping are similar to LSPB in

the way they compute blend time and
acceleration
During an Intermediate regime we compute
acceleration by comparing incoming and
outgoing velocities about each point

Craigs Dog Tracking

Method

Starting regime Equations:

& SGN &

&
&
1
2
1
global
t1 td 12 t

2
d 12

2 2 1

&
&

2 1
td 12 .5 t1
tl12 td 12 t1 .5 t2

&
12

Start Acceleration

Start Blend
Time

Linear Velocity 12
Time @ linear Velocity

Craigs Dog Tracking

Method
Stopping Equation:
& SGN &
&
&
n
n 1
n
global

tn td n1 n t

&
n 1 n

2
d n 1 n

2 n n1

&
&
n

n n1
td n1 n .5 tn

tl n1 n td n1 n tn .5 tn1

Stop acceleration

Stop Blend
Time

L. Velocity to stop

Time @ L. Velocity

Craigs Dog Tracking

Method

Intermediate Equations:

&
jk

tdjk

& SGN & & &

&
&
k
kl
jk
global
tk

& &

kl

jk

&
&
k
tljk tdjk .5 t j .5 tk

Linear Velocity

Acceleration

Blend time

Time @ L. Velocity

Craigs Dog Tracking

Method

Upon examination of the set of equation on

the previous 3 slides several point should be
noted:

Start and Stop are essentially the same but very

important differences must be noted
One cant complete any of the regimes without looking
ahead actually looking ahead to the 2 nd point beyond
to see if a joint is stopping or continuing
Start/Stop require position/time relationships
Intermediate regimes require velocity/time
relationships

Craigs Dog Tracking

Method

Step 1: Calculate Global usable

acceleration (magnitude)
constraint based on LSPB model
applied Pairwise (12; 23; etc)

Step 2: Focus on Start and Stop

Segments

Step 3: Complete the table of

accelerations, blend times, linear
velocity and time at linear velocity

4 q

&
q&
i j

2
dij

Lets Expand on Dr. Ds Coffee

Drinker Bot:
Point
Name

Position Delta
(inch) Position
(inch)

Arrival
Time
(sec)

Delta
Time
(sec)

---

----

9.5

9.5

0.5

.5

11

1.5

3.5

9.5

-1.5

6.5

-9.5

7.5

Lets Expand on Dr. Ds

Coffee Drinker Bot:

Step 1: Global Acc. Constraint

4 9.5
2
&AB
q&

152
in
/
s
.52
4 1.5
2
&
q&

0.67
in
/
s
BC
32
4 1.5
2
&
&
qCD

.67
in
/
s
32
4 9.5
2
&
q&

38
in
/
s
DE
12

This is largest
should work globally
but lets make sure
it doesnt miss so
choose 200ips2

cause its easier to

calculate and is only
about .6g

Lets Expand on Dr. Ds

Coffee Drinker Bot:

Next we focus on the start & stop

equations: q&&A SGN (9.5 0) 200 200ips 2

Starting

t A .5 .52 2 9.5
q&AB 9.5

200

.5 .5 .106

0.106 s

21.3ips

2
&
q&
E SGN 9.5 0 200 200ips

Stopping

t E 1 12

q&DE

2 0 9.5

0 9.5

200

1 .5 0.049

0.049 s

9.74ips

NOTE:
cant
compute tlij
yet we
lack the
data!

Lets Expand on Dr. Ds

Coffee Drinker Bot:

Considering Intermediate BC:

qC qB

1.5
q&BC

0.5ips
tdBC
3
g
g

2
&
q&

SGN
q

q
200

200
ips
BC AB
B

g
g

q
BC AB
.5 21.25

tB

.103s
&
q&

200
B
Now to finish the 1st segment:

tlAB tdAB t A .5 t B .5 .106 .5 .103 .342 s

Lets Expand on Dr. Ds

Coffee Drinker Bot:

q&CD

On to CD Segment

qD qC

tdCD

0.5ips

2
&
&
&
q&

SGN
q

q
200

200
ips

C
CD
BC

tC

q&CD q&BC

.005
s
&
q&
200
C

back to finish B--C Segment

tlBC tdBC .5t B .5tC 3 .5(.103) .5(.005) 2.946 s

Lets Expand on Dr. Ds

Coffee Drinker Bot:

Now for Segment DE:

q&DE
earlier !

E (is stop point!) 9.74ips

2
&
&
&
q&

SGN
q

q
200

SGN

9.74

.5)

200

200
ips

D
DE
CD

tD

q&DE q&CD

0.049 s
&
q&
D

Completing Seg. C--D

tlCD 3 .5tC .5t D 2.974s

Seg D--E

tlDE 1 .5t D t E 0.928s

Summarizing
Pt

POS

T.
Time POS

B
C

9.5
11

.5
3.5

----9.5
1.5

time

Ti
(blend
)

----

.106

.5
3

.103
.005

Acc

L. Vel

Time
@L.
Vel

+20
0

21.3

.342

.5

2.94
6

-.5

2.97
4

-200
-200

9.5

6.5

-1.5

.046

-200 -9.74 .928

7.5

-9.5

.049

+20
0

A Final Thought on DogTracking:

But if we must travel
over a certain point,
we can define
Pseudo-Via points
that flank the desired
target and force the
arm to pass the
pseudos and drive
right over the original
desired target point

Looking at Velocity
Control

Desired
Path
Achievable
Path

With this Velocity

Control

The acceleration is set and the new velocity

for an upcoming segment is inserted at the
appropriate time (place)

Over the segment, the arm (joints) lags the

desired path

We extend the next path velocity curve to

intersect the actual achievable path (to a
point that is earlier in time than when we
would have expected to change) this will
mean that the joint can catch up to the
desired plan for the travel as it blends to the
new velocity