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New repetitive motion planning scheme with cube end-effector planning precision for redundant robotic manipulators

Published online by Cambridge University Press:  31 August 2021

Limin Shen Open the ORCID record for Limin Shen [Opens in a new window]  and
Yuanmei Wen
Limin Shen*
Affiliation:
Department of Mechanical and Electronic Engineering, Guangzhou Railway Polytechnic, Guangzhou 510430, China
Yuanmei Wen
Affiliation:
School of Information Engineering, Guangdong University of Technology, Guangzhou 510006, China E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Abstract

Repetitive motion planning (RMP) is important in operating redundant robotic manipulators. In this paper, a new RMP scheme that is based on the pseudoinverse formulation is proposed for redundant robotic manipulators. Such a scheme is derived from the discretization of an existing RMP scheme by utilizing the difference formula. Then, theoretical analysis and results are presented to show the characteristic of the proposed RMP scheme. That is, this scheme possesses the characteristic of cube pattern in the end-effector planning precision. The proposed RMP scheme is further extended and studied for redundant robotic manipulators under joint constraint. Based on a four-link robotic manipulator, simulation results substantiate the effectiveness and superiority of the proposed RMP scheme and its extended one.

Keywords

Repetitive motion planningpseudoinverse formulationtheoretical analysisredundant robotic manipulatorsjoint constraint
Type
Research Article
Information
Robotica , Volume 40 , Issue 4 , April 2022 , pp. 1233 - 1254
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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