Cyclic Motion Planning of Redundant Robot Arms: Simple Extension of Performance Index May Not Work

摘要

In this paper, multiple types of performance indices (termed, an original one and its simple extensions) are investigated for online cyclic motion planning of redundant manipulators, which aims at remedying a so-called joint-angle-drift problem. In addition, physical constraints such as joint limits and joint velocity limits are taken into consideration in these related scheme-formulations, and these schemes could finally be rewritten as a quadratic program (QP). These cyclic-motion-planning (CMP) schemes are then applied and simulated based on three different types of robot arms, which shows that the original one is effective, whereas its simple extensions may not work applicably.