A trajectory planning method for the redundant manipulator based on configuration plane

This study focuses on the method of trajectory planning of spatial obstacle avoidance for redundant manipulators based on configuration plane method. Firstly, according to the summary of the work configuration for redundant manipulator, kinematics analysis method based on configuration plane is prop...

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Autores principales:	Yanhui Wei, Zhi Zheng, Qiangqiang Li, Jialin He
Formato:	article
Lenguaje:	EN
Publicado:	SAGE Publishing 2021
Materias:	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/4df3c1ae1fa1412bb6145abc90edb85b
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id	oai:doaj.org-article:4df3c1ae1fa1412bb6145abc90edb85b
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spelling	oai:doaj.org-article:4df3c1ae1fa1412bb6145abc90edb85b2021-12-02T03:04:44ZA trajectory planning method for the redundant manipulator based on configuration plane1729-881410.1177/17298814211058558https://doaj.org/article/4df3c1ae1fa1412bb6145abc90edb85b2021-11-01T00:00:00Zhttps://doi.org/10.1177/17298814211058558https://doaj.org/toc/1729-8814This study focuses on the method of trajectory planning of spatial obstacle avoidance for redundant manipulators based on configuration plane method. Firstly, according to the summary of the work configuration for redundant manipulator, kinematics analysis method based on configuration plane is proposed, which helps to establish a basic kinematics model of configuration plane. Secondly, the analysis of velocity is conducted and velocity iterative formula is derived. Then, the process of the trajectory planning for redundant manipulator based on the velocity distribution of configuration plane is given, during which some key procedures such as the determination of work configuration, achieving spatial obstacle avoidance, and analysis of velocity distribution are deduced. Finally, the simulation of spatial circle trajectory planning for the 7-degree-of-freedom redundant manipulator is done. The experimental results show that the proposed trajectory planning method for redundant manipulator can satisfy the requirements of complex spatial obstacle avoidance and increase the controllability of the trajectory between spatial interpolation points of the manipulator’s end effector.Yanhui WeiZhi ZhengQiangqiang LiJialin HeSAGE PublishingarticleElectronicsTK7800-8360Electronic computers. Computer scienceQA75.5-76.95ENInternational Journal of Advanced Robotic Systems, Vol 18 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95
spellingShingle	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95 Yanhui Wei Zhi Zheng Qiangqiang Li Jialin He A trajectory planning method for the redundant manipulator based on configuration plane
description	This study focuses on the method of trajectory planning of spatial obstacle avoidance for redundant manipulators based on configuration plane method. Firstly, according to the summary of the work configuration for redundant manipulator, kinematics analysis method based on configuration plane is proposed, which helps to establish a basic kinematics model of configuration plane. Secondly, the analysis of velocity is conducted and velocity iterative formula is derived. Then, the process of the trajectory planning for redundant manipulator based on the velocity distribution of configuration plane is given, during which some key procedures such as the determination of work configuration, achieving spatial obstacle avoidance, and analysis of velocity distribution are deduced. Finally, the simulation of spatial circle trajectory planning for the 7-degree-of-freedom redundant manipulator is done. The experimental results show that the proposed trajectory planning method for redundant manipulator can satisfy the requirements of complex spatial obstacle avoidance and increase the controllability of the trajectory between spatial interpolation points of the manipulator’s end effector.
format	article
author	Yanhui Wei Zhi Zheng Qiangqiang Li Jialin He
author_facet	Yanhui Wei Zhi Zheng Qiangqiang Li Jialin He
author_sort	Yanhui Wei
title	A trajectory planning method for the redundant manipulator based on configuration plane
title_short	A trajectory planning method for the redundant manipulator based on configuration plane
title_full	A trajectory planning method for the redundant manipulator based on configuration plane
title_fullStr	A trajectory planning method for the redundant manipulator based on configuration plane
title_full_unstemmed	A trajectory planning method for the redundant manipulator based on configuration plane
title_sort	trajectory planning method for the redundant manipulator based on configuration plane
publisher	SAGE Publishing
publishDate	2021
url	https://doaj.org/article/4df3c1ae1fa1412bb6145abc90edb85b
work_keys_str_mv	AT yanhuiwei atrajectoryplanningmethodfortheredundantmanipulatorbasedonconfigurationplane AT zhizheng atrajectoryplanningmethodfortheredundantmanipulatorbasedonconfigurationplane AT qiangqiangli atrajectoryplanningmethodfortheredundantmanipulatorbasedonconfigurationplane AT jialinhe atrajectoryplanningmethodfortheredundantmanipulatorbasedonconfigurationplane AT yanhuiwei trajectoryplanningmethodfortheredundantmanipulatorbasedonconfigurationplane AT zhizheng trajectoryplanningmethodfortheredundantmanipulatorbasedonconfigurationplane AT qiangqiangli trajectoryplanningmethodfortheredundantmanipulatorbasedonconfigurationplane AT jialinhe trajectoryplanningmethodfortheredundantmanipulatorbasedonconfigurationplane
_version_	1718401982935334912

A trajectory planning method for the redundant manipulator based on configuration plane

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