Trajectory planning of a 5 DOF feeding serial manipulator using 6^th order polynomial method

摘要

Abstract In the present era the importance of household and assistive robots has been increasing. Usually assistive robots are serial manipulators having degree of freedom more than three. In this paper a case of vertically downward 5 DOF assistive robots is taken, which helps physically challenged people in feeding. This paper delivers the methodology to build the smooth trajectory for multi-degree of freedom robot using higher degree polynomials method. An optimal trajectory decreases jerk to the end-effector (As end-effector carries food) protects battery life, protects joints from the mechanical vibrations and reduces time to reach at the user. This paper also discusses the forward and inverse kinematic analysis of a T-R-R-R-R type robot, as it is highly recommended before trajectory planning. The paper also compares the trajectories generated by inverse kinematics (Cartesian Scheme) and Joint space scheme. In a nut shell this methodology will be helpful in designing the trajectories of assistive T-R-R-R-R type robots for physically challenged people like Parkinson patients, patients with vertigo or vestibular disorder, neurological disorder and many more.