TRAJECTORY PLANNING

KINEMATIC DYNAMIC
MODEL CONSTRAINTS

PATH/TASK TIME SEQUENCE OF

TRAJECTORY PLANNING
SPECIFICATION POINTS WITH LOCATION

PATH
CONSTRAINS

• Trajectory planning generates a time sequence of intermediate

configuration expressed in either joint (or) cartesian co-ordinate
frame.
• The above figure shows the parameters involved in the Trajectory
planning problems.
• Trajectory planning for industrial robots consists of
moving the tool center point from point A to point B
while avoiding body collisions over time.
• Trajectory planning is sometimes referred to as motion
planning and erroneously as path planning.
• Trajectory planning is distinct from path planning in
that it is parametrized by time.
• Essentially trajectory planning encompasses path
planning in addition to planning how to move based on
velocity, time, and kinematics.
TYPES OF GENERATIONS
There are 2 types of generations are commonly used:
1.First generation languages
2.Second generation languages
First generation languages: It uses a combination of command
statement and teach pendent procedures for developing robot
programmes.
• They were textual programming languages and some times preferred
to as motion level languages.
• The motion sequence of the manipulator move, wait, signal, stop etc
commands are used.
Example VAL.
Second generation languages: The Second-generation languages
are uses to over come difficulties to compare the first generation
languages.

• This type of robot is intelligent type of robot.

• This is languages have been called structured programming languages.

• Structured control constructions used in computer languages.

• The SGL includes AML, RAIL, MCL & VAL.

TYPES OF MOTIONS
There are 3 types of motions that a robot manipulator can make
in travelling from point to point. These are
1.Skew motion
2.Joint interpolated motion
3.Straight line motion
Skew motion:
• It represents the simplest type of motion. As the robot is commanded to
travel from point A to point B, each axis of the manipulator travels as
quickly as possible from its respective initial position to its required final
position.

• Every motion of the manipulator axis starts simultaneously but end its
motion according to the time taken to travel the distance of commanded
speed.
Joint interpolated motion:

• To move a robot smoothly from one pose to another we need smooth

and coordinated motion of all the joints.

• The simplest approach is called joint interpolated motion but it has

some limitations.
Joint interpolated motion:
• In robot control to determine the time taken by each joint to reach the
target at commanded joint integrated motion or interpolated short list the
maximum time among all the joints and apply that time to all the axis.

• This indicates velocity of each axis is to be determined individually.

• In this type of motion all the joints can stop and start at the same time.
Straight line interpolation motion:
• It requires the end of the manipulator to travel along a straight
path defined in cartesian co-ordinate system for manipulator
with rotational joints.
• Most straight line motions are to control the sequence of
motion at the end of the arm to move the linear way to
commanded the arm to travel from A to B along a linear path
with a series of intermediate points to transfer initial position
to the final position in cartesian co-ordinates.
• The transformation would be a certain distance apart the distance
determined to allow enough time for the robot controller to calculate
the transformations and to solve the arm kinematic translation or
prismatic. Since the arm will be joint interpolating the moves between
calculations and accuracy with which the end of arm will follow the
desired straight line motion. It is very useful in application such as
welding, painting, assembling etc.
Robot Programming
• It is concerned with the teaching the robot is work
cycle.
• A large position of the program involves the motion
path that the robot must execute in moving party from
initial location to the final location in workspace.
Methods of Robot Programming
It is accomplished in several ways. In current industrial practice divide
the programming methods in two base types
Types of Robotics Software
 1. Offline Programming
• Offline programming software provides a way for you to program
your industrial robot without needing to be physically connected
to the robot.
• This means that you don’t need to take the robot out of
production to program it.
• It reduces downtime, improves the quality of programming, and
allows you to change between product lines quickly, amongst
other benefits.
• The offline programming market is quite fractured, with packages
often tied into individual robot brands.
• Then, there is offline programming software that can be used with
any robot brand, like RoboDK.
2. Simulators
• Robot simulators come in many forms. Some only allow for simple 2D
simulation of specific aspects of robotics whilst others include 3D
simulation with complex physics engines and realistic environments.
• If you wanted to, you could spend a lot of time testing all the many
different simulation packages available.
• Unfortunately, it’s difficult to tell from a promotional video how easy
a simulator is to use.
• You have to go out and test it for yourself.
• As well as being an offline programming tool, RoboDK is also a great
simulator.
• It is simple enough to allow you to easily program your robot whilst
being powerful enough to handle many different use cases.
3. Middleware
• One of the most misunderstood types of robot software is
middleware — the most popular being ROS (Robot Operating
System).
• Robot middleware provides a framework for running and managing
complex robotic systems from a single unified interface.
• As some people describe it, middleware is the “software glue” that
helps robot builders to avoid reinventing the wheel when they are
designing a new robotic system.
• You probably wouldn’t use middleware to control a single robot on a
production line.
• However, if you were building your own robotic system with multiple
components or looking to coordinate multiple robots, you might use
middleware to make your life a bit easier during the R&D phase.
4. Mobile Robot Planning
• Mobile robots are programmed in a different way from other
robots which means using a different type of software too. For
example, path planners are used to program the route that the
robot will take through the environment. While obstacle
avoidance algorithms react to changes in the moment.
• There are a lot of interesting software tools available for mobile
robot programming, ranging from warehouse logistics to
autonomous vehicles.
5. Real-Time Path Planning
• Path planning software is used in many areas of robotics. Basic
path planners, like our PRM feature, are simply used to speed up
the programming phase for industrial robotics.
• Real-time path planning is much more complex than basic path
planning. It involves continually updating the program to
respond to changes in the environment. These allow the robot
to be reactive but can also make the robot more unsafe.
• Software companies who specialize in real-time path planning
tend to focus their efforts on a single type of robot, like
humanoid robotics, mobile robotics, or robotic arms.
6. UAV (Drone) Control
• A growing type of robotic software is drone control. This refers
to any software which is used to program and coordinate
unmanned aerial vehicles (UAVs/drones).
• There have been a growing number of application areas for
drones over the last decade. For example, with drones now used
in agriculture, inspection, and security.
• Software for drones tends to focus on particular application
areas or aspects of drone control (e.g. data collection, image
analysis, mapping etc).
7. Artificial Intelligence for Robots
• Artificial intelligence (AI) has been used with robotics for many
years — almost as long as robotics have been around.
• However, there has recently been a rising number of software
solutions. Specifically for using AI with robots in particular
application areas.
• As with the other types of robot software, AI tends to be
focused on specific aspects of these applications, such as
analyzing images collected in agricultural settings, filtering
operational data in manufacturing environments, or coordinating
swarms of mobile robots in logistics.
Programming languages

• There are numerous programming languages available, e.g. C/C++,

Java, Fortran, Python etc. The most popular language in robotics is
probably C/C++ (C++ is an object-oriented successor to the C
language). Python is also very popular due to its use in machine
learning and also because it can be used to develop ROS packages –
see below.
There are additional, important software tools used in robotics, in particular:

• Robot Operating System (ROS) is a set of software libraries and tools that
helps you build robot applications. You can also write your own programs
for ROS e.g. in C/C++ or Python.

• Matlab which is used for data analysis and interfaces with ROS (also,
Octave is a free, open-source equivalent to Matlab.)
 Robot software
• Robot software is the set of coded commands or instructions
that tell a mechanical device and electronic system, known
together as a robot, what tasks to perform. Robot software is
used to perform autonomous tasks. Many software systems and
frameworks have been proposed to make programming robots
easier.
• Some robot software aims at developing intelligent mechanical
devices. Common tasks include feedback
loops, control, pathfinding, data filtering, locating and sharing
data.
Introduction

• While it is a specific type of software, it is still quite diverse.

Each manufacturer has their own robot software. While the vast
majority of software is about manipulation of data and seeing
the result on-screen, robot software is for the manipulation of
objects or tools in the real world.
 Industrial robot software
Software for industrial robots consists of data objects and lists of instructions, known
as program flow (list of instructions). For example,
Go to Jig1

It is an instruction to the robot to go to positional data named Jig1. Of course,

programs can also contain implicit data for example
Tell axis 1 move 30 degrees.

Data and program usually reside in separate sections of the robot controller memory.
One can change the data without changing the program and vice versa.
For example, one can write a different program using the same Jig1 or one can adjust
the position of Jig1 without changing the programs that use it.
Robot programming languages
Task in plain English:
VAL was one of the first robot ‘languages’
and was used in Unimate robots.
ROBOFORTH (a language based on FORTH)
Robot application software
• Regardless which language is used, the end result of robot software
is to create robotic applications that help or entertain people.
• Applications include command-and-control and tasking software.
• Command-and-control software includes robot control GUIs for tele-
operated robots, point-n-click command software for autonomous
robots, and scheduling software for mobile robots in factories.
• Tasking software includes simple drag-n-drop interfaces for setting
up delivery routes, security patrols and visitor tours; it also includes
custom programs written to deploy specific applications.
• General purpose robot application software is deployed on widely
distributed robotic platforms
• ZAPTEST is a Software Automation solution for any organization that uses
software for operations or development, who is looking to automate it’s
back-office operations or software testing processes and to develop a
seamless and revolving automation framework.
Features:
• Functional and Performance Test Automation
• RPA (Robotic Process Automation)
• Seamless Test+RPA Software Automation
• Cross-Platform (Parallel) Execution
• DevOps (Mock-ups) Automation
• API Testing
• Auto-Documentation
• Eggplant (now part of Keysight Technologies) is an award-winning RPA solutions
provider and has been named a leader by all the top analysts, including Gartner
and Forrester.
Don’t fight today’s testing war with yesterday’s technology

Features:
• End-to-end automation able to interact with multiple systems to complete a
task.
• Universal fusion engine that can test any system from mobile to mainframe.
• Resolve issues with real-time data analytics
• Designed for process experts not technical experts or developers.
• Reduce manual errors by automating repetitive process tasks.
• Automate, by HelpSystems, is a comprehensive RPA platform designed to
automate repetitive and manual processes across your organization. Automate
provides 5x the value of other solutions through its ease of use, stable and robust
functionality, and ability to scale your automation strategy.
Features:
• Over 600 prebuilt automation building blocks
• Graphical workflow design brings IT and business teams together
• Ability to integrate with an extensive list of applications
• Intelligent automation capabilities with advanced conditions and trigger
scenarios
• Industry leading security, auditing, and integration capabilities
• Centralized visibility, management, and reporting and analytics within
distributed networks
• JAMS is an enterprise IT automation solution that runs, monitors, and
manages jobs and workflows to support critical business processes. Built as
the only job scheduling solution engineered on the .NET framework, JAMS
helps organizations define, schedule, execute, and monitor jobs from a single
centralized console.
Features:
• Automate IT processes—from simple batch processes and scripts to complex
cross-platform workflows
• Centralize scheduling across all platforms, applications, APIs, and scripting
languages
• Leverage code-driven automation and apply business logic in jobs
• Rely on event-based scheduling using triggers and user-defined events to
increase automation control and efficiency
• Kofax RPA is one of the most efficient way to acquire, enhance and deliver
information from any application or data source. This includes a website,
portals, desktop applications and enterprise systems without any coding.
Features:
• Helps you to remove errors by Automating Data Gathering and Input
• Increase Operational Efficiency with Intelligent Software Robots
• Monitor and Optimize Processes with Robotic Process Intelligence
• Deploy, manage and execute robots from a centralized server
• Built-In Analytics and Process Intelligence
• Power Automate is RPA tool that helps you to boost your organization’s
productivity. This application enables you to build a secure workflow
without writing any code.
Features:
• It helps you to increase the accuracy and efficiency of the workforce.
• This application provides step by step guide to simplify business process
automation.
• Power Automate tool automation is protected by MS security technology.
• It offers AI models for object detection, form processing, and text
recognition.
• You can integrate this app with Microsoft 365, Azure, and Dynamic 365.