A trajectory planning method for the redundant manipulator based on configuration plane

被引：3

作者：

Wei, Yanhui ^{[1
]}

Zheng, Zhi ^{[1
]}

Li, Qiangqiang ^{[1
]}

He, Jialin ^{[1
]}

机构：

[1] Harbin Engn Univ, Coll Automat, 145 Nantong St, Harbin 150001, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2021年 / 18卷 / 06期

关键词：

Configuration plane; redundant manipulator; spatial obstacle avoidance; trajectory planning; velocity distribution; OBSTACLE AVOIDANCE; OPTIMIZATION; ROBOTS;

D O I：

10.1177/17298814211058558

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This study focuses on the method of trajectory planning of spatial obstacle avoidance for redundant manipulators based on configuration plane method. Firstly, according to the summary of the work configuration for redundant manipulator, kinematics analysis method based on configuration plane is proposed, which helps to establish a basic kinematics model of configuration plane. Secondly, the analysis of velocity is conducted and velocity iterative formula is derived. Then, the process of the trajectory planning for redundant manipulator based on the velocity distribution of configuration plane is given, during which some key procedures such as the determination of work configuration, achieving spatial obstacle avoidance, and analysis of velocity distribution are deduced. Finally, the simulation of spatial circle trajectory planning for the 7-degree-of-freedom redundant manipulator is done. The experimental results show that the proposed trajectory planning method for redundant manipulator can satisfy the requirements of complex spatial obstacle avoidance and increase the controllability of the trajectory between spatial interpolation points of the manipulator's end effector.

引用

页数：16

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