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1 International Journal of Applied Mechanics and Engineering

1 2010

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Collision-free sub-optimal trajectory planning of the redundant manipulators

Pająk G., Pająk I.

International Journal of Applied Mechanics and Engineering

2010

Vol. 15, no 3

799-810

The paper presents a method of planning a sub-optimal collision-free trajectory for a redundant manipulator. The path of the end-effector is defined as a curve that can be parameterized by any scaling parameter. The method is based on penalty function approach and a redundancy resolution at the acceleration level. Constraints connected with the existence of mechanical limits for manipulator configuration and control constraints have been considered. The motion of the manipulator is planned in order to minimize a manipulability measure for the purpose of avoiding manipulator singularities. A computer example involving 4 a DOF PUMA-like manipulator operating in a three dimensional task space is also presented.