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
收藏
页数：16
相关论文
共 50 条
  • [41] An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators
    Wang, Wenrui
    Zhu, Mingchao
    Wang, Xiaoming
    He, Shuai
    He, Junpei
    Xu, Zhenbang
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2018, 15 (05):
  • [42] Multi-objective Trajectory Optimization of Redundant Manipulator for Patient Assistance
    Yu, Xuanqi
    Meng, Wei
    Liu, Zemin
    Ai, Qingsong
    Liu, Quan
    2021 27TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP), 2021,
  • [43] Globally Optimal Trajectory Planning for Redundant Manipulators using State Space Augmentation Method
    Zhen-Lei Zhou
    Charles C. Nguyen
    Journal of Intelligent and Robotic Systems, 1997, 19 : 105 - 117
  • [44] A General Framework of Motion Planning for Redundant Robot Manipulator Based on Deep Reinforcement Learning
    Li, Xiangjian
    Liu, Huashan
    Dong, Menghua
    IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2022, 18 (08) : 5253 - 5263
  • [45] Globally optimal trajectory planning for redundant manipulators using state space augmentation method
    Zhou, ZL
    Nguyen, CC
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 1997, 19 (01) : 105 - 117
  • [46] Detachment avoidance of joint elements of a robotic manipulator with clearances based on trajectory planning
    Bu, Wanghui
    Liu, Zhenyu
    Tan, Jianrong
    Gao, Shuming
    MECHANISM AND MACHINE THEORY, 2010, 45 (06) : 925 - 940
  • [47] Trajectory tracking with obstacle avoidance of redundant manipulator based on fuzzy inference systems
    Benzaoui, M.
    Chekireb, H.
    Tadjine, M.
    Boulkroune, A.
    NEUROCOMPUTING, 2016, 196 : 23 - 30
  • [48] A Segmented Geometry Method for Kinematics and Configuration Planning of Spatial Hyper-Redundant Manipulators
    Mu, Zonggao
    Yuan, Han
    Xu, Wenfu
    Liu, Tianliang
    Liang, Bin
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2020, 50 (05): : 1746 - 1756
  • [49] Path Planning Based on Bi-RRT Algorithm for Redundant Manipulator
    Zang, X. Z.
    Yu, W. T.
    Zhang, L.
    Iqbal, Sajid
    PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON ELECTRICAL, AUTOMATION AND MECHANICAL ENGINEERING (EAME 2015), 2015, 13 : 189 - 191
  • [50] An approach to obstacle avoidance for redundant manipulator based on fuzzy logics
    Yang, YX
    Liu, D
    Liu, H
    PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4, 2002, : 725 - 729
12345