Continuous trajectory planning of a 6 DoF feeding robotic arm using a novel multi-point LSPB algorithm

摘要

The present research paper, discusses about the novel LSPB algorithm for planning a trajectory of a multi-degree of freedom robotic arm for N numbers of intermediate points. In the current research paper, a case study of a 6 DoF indigenous economical 3D printed feeding serial manipulator is taken, which is used to feed aged patients suffering from various neurological disorders. The motive of the MP-LSPB algorithm is to provide an alternative spline trajectory planning method. The spline interpolation method is made of multiple polynomials and increases the complexity of calculations along with the computational load. Apart from this spline trajectory planning method does not provide any cushioning time at the starting and at the end of the trajectory. To overcome this problem, we have come up with a generalized MP-LSPB algorithm with lesser calculations and computational complexity, which provides smoother trajectory planning along with calculated cushioning time at the starting and at the end of the trajectory. The developed algorithm is suitable for any open source microcontroller such as Arduino, Raspberry Pi, STM 32 and PIC. A homogenous trajectory planning algorithm for N numbers of intermediate points was developed, which can provide continuous angular displacement, protects mechanical joints and servo actuators from excessive vibrations, infinite acceleration and instantaneous velocity, and safely deliver the food to the patient, without wasting it. After deploying the MP-LSPB algorithm, the robot was tested successfully over 30 patients for 25 feeding cycles.