Path Control in Robotics

ME 4135, F 2012
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
Physics: Vjoint d/ t =
(9.5/100)/(.5/100) = 19in/second (a
reasonable speed!)

From

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:
10 g
Acc

-10 g

19
in/sec
Vel

9.5"
POS

0.005

Time

0.495

0.5

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

Building a Path
Polynomial Motion Set
q t a0 a1t a2t a3t L
2

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

Solving the Path Polynomial means

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

means
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

means
finding ais for SPECIFIC PATHS
Writing

1 t0

0
1

1 tf

0 1

these as Matrix Forms:

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

means
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

means
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
3 q f q0 t f 2q&0 q&f
simultaneously:
a2
Be Careful and
t 2f

note the order of

the positions and
velocities!

a3

q f t f q&f q&0

2 q

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)
Turns out we can and
we will call it where
LSPB!
Can we make a path solution
we

Studying the LSPB model

In

this model, we will carry forward with

a parabolic model that is 2nd order
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 is
guaranteed to be completed within half of the
allocated time qperiod
of
4 the
qB qtravel:
B qA
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

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
(which is 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 constraint
determined above

Applying it to the Coffee

Bot
Acceleration

4 9.5 0
2
&
&
q

152
in
/
sec
0.4 g
constraint:
2
.5
& 175in / sec 2
lets ' pick ' q&

Blend

time: t .25 .25 175 4 175 9.5

b
2

2 175

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

Applying it to the Coffee

Bot
tlinear=.5
Linear

2*0.159 = 0.181 s

& tb 175 .159 27.89 in/sec

Vlin q&
Velocity:

Positions:

By tb, the Joint has moved: (27.89/2)*.159

= 2.222
During linear velocity joint moves:
0.181*27.89 = 5.055 in (thus the pos =
7.277)
During deceleration joint travels 2.222
Adding them gives full travel distance:
2.222 + 5.055 + 2.222 in 9.5in

Plotting the Path

trajectory:
175
in/s^2

Acc

0 in/s^2

-175
in/s^2

27.89
in/sec

Vel

9.5"

POS

.159

Time

.361 0.5

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

continuing along a path w/o stopping at each
point?

Here

we will focus on a method called dogtracking 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

Equations:
& SGN &
&
&
n
n 1
n
global

tn td n1 n t

&
n1 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

&
jk

Equations:

tdjk

& SGN & & &

&
&
k
kl
jk
global
tk

& &

kl

Linear Velocity

jk

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

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
tdij

Lets Expand on Dr. Ds

Coffee Bot:
Point
Name
A

Position Delta
(inch) Position
(inch)
0
0

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 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 Bot:
Next

we focus on the start & stop

equations: q&& 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 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 Bot:
On

q&CD

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 Bot:
Now

q&DE
earlier !

for Segment DE:

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 2.974 s

Seg D--E

tlDE 1 .5t D t E 0.928s

Summarizing
Pt

POS

T.
Tim
e

B
C
D
E

9.5
11
9.5
0

.5
3.5
6.5
7.5

PO
S

tim
e

Ti
(blend
)
Acc

-----

----

.106

9.5
1.5
-1.5
-9.5

.5
3
3
1

.103
.005
.046
.049

+20
0

Time
@L.
L. Vel Vel

21.3

.342

.5

2.94
6

-.5

2.97
4

-200
-200
-200 9.74
+20
0

.928

A Final Thought on DogTracking:

But if we must travel

over or through 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

Linear Path Control

Sometimes

thought of as Cartesian

Control
It is based on the idea of Transitions
between consecutive required
geometries
These transitions
uuuuur
are based on the
r Drive
T rMatrix:
gRa r gRo r
solution D
of a
The matrices T(r), Ra(r), and Ro(r) are the
translation, rotation wrt Z and rotation wrt Y in
transitioning from Pinitial to Pfinal

Developing the Drive

Matrix:
Given:
And:

P1 is (n1, o1, a1, d1)

P2 is (n2, o2, a2, d2)

Then:

n1 gn2

ur
o1 gn2

D r
a1 gn2

n1 go2

n1 ga2

o1 go2
a1 go2
0

o1 ga2
a1 ga2
0

n1 g d 2 d1

o1 g d 2 d1
a1 g d 2 d1

Cartesian Control

It

is used when very

exact interaction is
required
It guaranties accurate
tool placement at all
times
It is typically used in
time dependent
solutions like
interaction while a

Cartesian Control

NOTE: On the
conveyor, the Hframe is a time
dependent pose in
C (conveyor space)

Cartesian Control
We

desire to attach the Quality

Tag to the part as it moves by
the robot station
Requires that the part and robot
tool must be in exact contact
throughout the attachment
process
This becomes a Time-based
Mapping problem

Cartesian Control
At

Time 1 (P1):

Tn t1 To g TR g TC g TH t1 g TP g TTar g TMW

At

1 U

Time 2 (P2):

Tn t2 To g TR g TC g TH t2 g TP g TTar g TMW

1 U

Cartesian Control
Using

these two (timedependent) Poses, we can build

the desired drive matrix
We can compute the accuracy of
the path then as a series of
changes to the three control
vectors: a, o and d
These are updated in real time

Cartesian Control

Problems
accounted for)

that can result

(and must be

Intermediate points that are unreachable After we

compute the initial and final points (that prove to be
reachable as individuals), we request the tracking of a, o
and d vectors but they exceed joint capabilities or require
positions outside the work envelope during the driving
action
In certain situations where only certain solutions are
possible for the robot, like being near singularities, the
desired linear velocity may require very high joint
velocities exceeding capabilities and the path actually
followed will deviate from the one desired as the joints run
at their velocity limits

Near Cartesian (Joint

Interpolated) Control

This is a semi-precise control method

developed as a compromise between
full-Cartesian and point-to-point motion
Basically it is used when a process
needs to be held within a band about
an ideal linear path for example
during painting or bar-code scanning
The path is designed to track the work
as it moves and maintains no more than
a given focal distance separation
between the tool and work surface
It is a path that is close to the target path at
all poses but exact only at a few!

Joint-Interpolated Control

Step

1: determine the desired path

Step 2: Compute the tolerable error and the
number of points (VIAs) needed to
maintain tooltowork distances
Step 3:Compute IKSs at each of the VIAs
Step 4: Determine Move time for each
segment:
qi qi

TSEG MAX
i

each joint i
note: i is joint velocity
2

Joint-Interpolated Control

Step

5: Divide the Tseg into m equal time

intervals:

Tseg 1

f sampling

where :

f sampling

is the controller positional sampling rate

m T

seg

sampling

Joint-Interpolated
Control

Step 6: For each joint,

determine angular
distance during each
time segment tseg:

Step 7: at the beginning

of the nth step over a
path, joint i servo control
receives a target point:

qi / time

i2

qi1

target = n qi qseg start

Joint-Interpolated Control

Implementing

this method
begins with determination of
the distance between and
ultimately the number of Via
Points needed
This is (really!) a simple
trigonometry problem based
on the offset distance and
error tolerance () at closest
approach

Joint-Interpolated Control
-- Model

2
1

R
R2

Robot
Base

R1

Note: R = R1 =
R2

Joint-Interpolated Control
-- Model
Notice

line #1, #2 and R1 form a right

2
2
triangle
2

1 2 R1
2

2 R 1
2
1

R (= R1) is
measured at
point of closest
approach
between the
robot and part!

But : 1 R 2
#2 is half the
distance
between Via
Points!

2 R R 2
2
1

2 4 R 4 2

Lets try one:

A Part 6m long moves by a

stationary robot on a conveyor
moving at 0.04mps (counter
flowing compared to painting
direction) If we desire that the
robot complete its spraying in 15
seconds
Then, the robot must travel 5.4 m to
spray the side of the part nearest it
since the part moves during the
painting operation.

At closest approach, the robot is

1.5 m from the part and needs to
have its sprayer 20 cm ( 5 cm)
from the part.
From this data, the R value is: 1.5
(.20 + .05) = 1.35 m

Lets try one:

Distance between Vias is found using:

2 4 R 4 2
4 1.35 .05 4 .05 .26
2

2 0.510m
distance between Via's is:

2 2 2 .510 1.020m

Therefore: The number of Vias

= 5.4/1.020 = 5.29 so round up to 6
plus the initial point = 6 + 1 = 7

Follow-up
What if we equally space the
Vias?
Distance
between is: 5.4/6 . 9 4 1.35 4 2
2
= .9m (rather than 1.020m)
.452 5.4 4 2
What is actual Error band?

Here we see it is: 3.86cm

Typically,

we find that Joint

Interpolated solutions
provide better than
required (or expected)
process control!

A Quadratic eqn. in !

2 1.35 .0506 0
.0772 2 m
.0386m 3.86cm

.5