| Citation: | WANG Anqi, WEI Yanhui, HAN Han, et al. Trajectory planning method for redundant manipulator based on configuration plane[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(9): 1991-1997. doi: 10.13700/j.bh.1001-5965.2017.0746(in Chinese)
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This paper proposes a novel method for solving the problem of multi-goal redundant manipulator trajectory planning. Specifically, Specifically, the trajectory planning path for a redundant manipulator is a complicated process with the joint constraint and the limit of spatial obstacle. First, to ensure stability of the manipulator motion, the work configuration of a redundant manipulator can be composed of multiple joint axes, which are connected in sequence. Second, by using the spatial geometry method, spatial trajectory planning for a redundant manipulator can be performed based on the configuration plane. Third, the optimized spatial path can be quickly obtained, which achieves multi-goal trajectory planning using the method of spatial vector leading, obstacle avoidance path comparing and choosing. Finally, a simulation using a 7-DOF redundant manipulator is conducted. The simulation result shows that the path planning problem can be solved quickly and intuitively by this method. Further, it does not depend on the work configuration of the manipulator and can be applied to redundant manipulators with more degrees of freedom.
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