OPTIMIZATION OF ROBOT LINKS MOTION IN INVERSE KINEMATICS SOLUTION CONSIDERING COLLISION-AVOIDANCE AND JOINT LIMITS

The present paper solves the inverse kinematic problem of a spatial redundant or nonredundant manipulator taking into account as criteria the collision avoidance and the joint functionality limits. A simulating manipulator-obstacle model with convex volumes in order to avoid a collision is used. The solution of the inverse kinematics has been conducted by the penalty function method. The developed procedure is demonstrated by solving a spatial manipulator with five revolute joints and for the off-line programming of this manipulator, which is used in a work station for various manufacturing processes. The results obtained can be checked by graphical simulation of the manipulator motion, and guarantee for a prescribed position and orientation of the end-effector a collision avoidance, respecting the joint limits.