Inverse Kinematics Solution and Trajectory Planning of Redundant Manipulator Based on Improved Gradient Projection Method

摘要

Abstract With the rapid development of high-speed railways, the water injection way for the train is developing in the direction of full automation. To enable the water-carrying robot arm on the train to cope with various emergencies during the operation, it is necessary to keep the robot arm more flexible. In this paper, the improved gradient projection algorithm (IGPM) is combined with the rapidly expanding random tree algorithm (RRT), and the optimal goal is to maximize the manipulator’s degradation operability and obtain a path with the best fault tolerance under the continuous joint angle. Finally, with the 4R redundant manipulator serving as an example, the feasibility and superiority of the algorithm in this paper are compared and verified through the numerical simulation method.