Quadratic-optimization based self-motion planning with no target-configuration assigned and verified via PA10 simulations

摘要

A criterion is proposed in the form of a quadratic function for the purpose of self-motion trajectory planning of redundant robot arms with no target-configuration assigned.This self-motion planning scheme can incorporate the avoidance of joint physical limit such as joint limits and joint velocity limits simultaneously.The design principle of the quadratic performance index is investigated and proved via two different methods.Computer-simulation results based on PA10 robot arm substantiate the feasibility and efficacy of this self-motion-planning scheme.