Motion Planning Algorithms of Redundant Manipulators Based on Self-motion Manifolds  

作　　者：YAO Yufeng ZHAO Jianwen HUANG Bo 

机构地区：[1]State Key Laboratory of Robotics Technique and System, Harbin Institute of Technology, Harbin 150081, China

出　　处：《Chinese Journal of Mechanical Engineering》2010年第1期80-87,共8页中国机械工程学报（英文版）

基　　金：supported by National Hi-tech Research and Develop- ment Program of China (863 Program, Grant No. 2005AA404291)

摘　　要：The current motion planning approaches for redundant manipulators mainly includes two categories： improved gradient-projection method and some other efficiency numerical methods. The former is excessively sensitive to parameters, which makes adjustment difficult; and the latter treats the motion planning as general task by ignoring the particularity, which has good universal property but reduces the solving speed for on-line real-time planning. In this paper, a novel stepwise solution based on self-motion manifold is proposed for motion planning of redundant manipulators, namely, the chief tasks and secondary tasks are implemented step by step. Firstly, the posture tracking of end-effector is achieved accurately by employing the non-redundant joint. Secondly, the end-effector is set to keep stationary. Finally, self-motion of manipulator is realized via additional work on the gradient of redundant joint displacement. To verify this solution, experiments of round obstacle avoiding are carried out via the planar 3 degree-of-~eedom manipulator. And the experimental results indicate that this motion planning algorithm can effectively achieve obstacle avoiding and posture tracking of the end-effector. Compared with traditional gradient projection method, this approach can accelerate the problem-solving process, and is more applicable to obstacle avoiding and other additional work in displacement level.The current motion planning approaches for redundant manipulators mainly includes two categories： improved gradient-projection method and some other efficiency numerical methods. The former is excessively sensitive to parameters, which makes adjustment difficult; and the latter treats the motion planning as general task by ignoring the particularity, which has good universal property but reduces the solving speed for on-line real-time planning. In this paper, a novel stepwise solution based on self-motion manifold is proposed for motion planning of redundant manipulators, namely, the chief tasks and secondary tasks are implemented step by step. Firstly, the posture tracking of end-effector is achieved accurately by employing the non-redundant joint. Secondly, the end-effector is set to keep stationary. Finally, self-motion of manipulator is realized via additional work on the gradient of redundant joint displacement. To verify this solution, experiments of round obstacle avoiding are carried out via the planar 3 degree-of-~eedom manipulator. And the experimental results indicate that this motion planning algorithm can effectively achieve obstacle avoiding and posture tracking of the end-effector. Compared with traditional gradient projection method, this approach can accelerate the problem-solving process, and is more applicable to obstacle avoiding and other additional work in displacement level.

关 键 词：redundant manipulators SELF-MOTION motion planning inverse kinematics 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] O189.31[自动化与计算机技术—控制科学与工程]