Parameterization-based trajectory planning for an 8-DOF manipulator with multiple constraints  

作　　者：Ziwu Ren Zhongyuan Wang Xiaohan Liu Rui Lin 

机构地区：[1]Robotics and Microsystems Research Center,Soochow University,Suzhou 215131,China

出　　处：《Biomimetic Intelligence & Robotics》2025年第1期67-76,共10页仿生智能与机器人(英文)

基　　金：supported by Jiangsu(Industry Foresight and Key Core Technology)Key Research and Development Project(BE2022137);the National Natural Science Foundation of China(51675358).

摘　　要：A physically feasible,reliable,and safe motion is essential for robot operation.A parameterization-based trajectory planning approach is proposed for an 8-DOF manipulator with multiple constraints.The inverse kinematic solution is obtained through an analytical method,and the trajectory is planned in joint space.As such,the trajectory planning of the 8-DOF manipulator is transformed into a parameterization-based trajectory optimization problem within its physical,obstacle and task constraints,and the optimization variables are significantly reduced.Then teaching-learning-based optimization(TLBO)algorithm is employed to search for the redundant parameters to generate an optimal trajectory.Simulation and physical experiment results demonstrate that this approach can effectively solve the trajectory planning problem of the manipulator.Moreover,the planned trajectory has no theoretical end-effector deviation for the task constraint.This approach can provide a reference for the motion planning of other redundant manipulators.

关 键 词：8-DOF manipulator Trajectory planning PARAMETERIZATION Obstacle constraints Teaching-learning-based optimization 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]