Closed Form HJB Solution for Path Planning of a Robot Manipulator with Warehousing Applications

Abstract

Real-time optimal path planning for robotic manipulations in task space is a very fundamental and important problem. In this paper, the problem of generating robot trajectories in an obstacle-ridden environment is formulated under an optimal control framework using Hamilton-Jacobi-Bellman (HJB) equation. The novel contribution of this paper is that a closed form HJB control solution (a necessary and sufficient condition for global optimality of a control solution with respect to a cost function) has been achieved for generating real-time optimal trajectories for a robot manipulator. In contrast with the decoupled end-effector path planning and subsequent trajectory generation, the proposed scheme can exploit sensory input for real-time trajectory generation where the end-effector path as well as the joint trajectory is recomputed online while satisfying the real-time constraints. The stability and the performance of the proposed control framework is shown theoretically via Lyapunov approach and also verified experimentally using a 6 degrees of freedom (DOF) Universal Robot (UR) 10 robot manipulator. It is shown that a significant saving in cost metrics can be obtained over similar trajectory generation approaches from the state-of-the-art with obstacle-ridden environment and also has better performance in high speed tracking applications. Warehouse applications of the proposed scheme in case of static and dynamic targets with respect to the robot manipulator is also included.