Self-motion Manifolds Calculation and Joint Trajectory Planning of Redundant Manipulators

doi:10.3901/JME.2023.05.077

Abstract

Abstract: To solve all the inverse kinematics solutions of the redundant manipulators, a new self-motion manifolds calculation method is proposed to calculate the self-motion manifolds including all inverse kinematics solutions. This method is based on the artificial bee colony algorithm to complete the initial value search of each branch of self-motion manifolds, which solves the problem that the initial value of the branch is difficult to determine. Furthermore, a branch search strategy is proposed to realize the search of complete manifolds branches. On this basis, to improve the calculation efficiency of self-motion manifolds, the congruence and gradient of self-motion manifolds are defined, and the manifolds library is established. By indexing the self-motion manifolds in the manifolds library, the self-motion manifolds at any position in the workspace can be quickly calculated. The manifolds library is used to analyze the global performance of the manipulators, and the local optimal configurations on each branch are obtained. The local optimal configurations of each branch are used as the initial configuration for joint trajectory planning, and the global optimal joint trajectory planning for a given end trajectory is realized. The 4R manipulator and 7R manipulator verify the method's effectiveness. This method can also be used to calculate the self-motion manifolds of hyper-redundant manipulators, and it has good universality.

Key words: redundant manipulator, inverse kinematics, self-motion manifolds, global performance analysis, joint trajectory planning

CLC Number:

TP242

ZHAO Jing, ZHOU Zhenyong, ZHANG Ziqiang. Self-motion Manifolds Calculation and Joint Trajectory Planning of Redundant Manipulators[J]. Journal of Mechanical Engineering, 2023, 59(5): 77-88.

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