Trajectory Planning of Redundant Manipulators Moving along Constrained Path and Avoiding Obstacles

摘要

An optimum trajectory planning for a planar redundant manipulators is presented by minimizing the power consumption, when its end effector is commanded to move in its prescribed path. The Equations of motion of the robot manipulator are determined using Lagrange formulation. In order to accomplish a desired trajectory, the displacements of the revolute joints are interpolated as polynomial functions of time. The proposed approach generates the trajectory for the manipulator joints and end-effector by minimizing total power consumption by taking the kinematic, dynamic constraints and the obstacles in the workspace in to account. The methodology is illustrated using a planar 3-Degrees of Freedom (DOF) robot using two types of motion planning simulations; point to point motion and continuous path motion planning. Simulation results have been reported for the joint trajectories, end–effector motion for the above two cases. Results of joint trajectories are smooth and efficient.