Research on the Optimal Algorithm for Trajectory Planning of a 9-DOF Hyper-Redundant Robot

doi:10.13190/jbupt.200802.20.095

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2008, Vol. 31 ›› Issue (2): 20-25.doi: 10.13190/jbupt.200802.20.095

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Research on the Optimal Algorithm for Trajectory Planning of a 9-DOF Hyper-Redundant Robot

JIA Qing-xuan, CHU Ming, SUN Han-xu, HONG Lei

School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received:2007-06-08 Revised:1900-01-01 Online:2008-04-28 Published:2008-04-28
Contact: JIA Qing-xuan

Abstract

Abstract:

Aimed at 9-degree of freedom（DOF） hyper-redundant module robot in intra-vehicular robot system, attention is given to the avoiding joint limits as an optimal mark. Two different iterative algorithms considering fault-tolerance for trajectory planning of redundant robot in Cartesian space are then proposed by using the method of differential locomotion. The first algorithm is for linear-path in which the pose of manipulator can be changed, the second is for circular-path in the plane decided by three noncollinear arbitrary points in the space. Experiments on the specimen robot platform are performed to validate the above algorithms. And the hyper-redundant robot’s actions, such as pulling drawers, grapping club-shaped stuff along linear-path and opening doors along circular-path are realized.

Key words: hyper-redundance, avoiding joint limits, fault-tolerance, trajectory planning, optimal

CLC Number:

TP242.3

JIA Qing-xuan, CHU Ming, SUN Han-xu, HONG Lei. Research on the Optimal Algorithm for Trajectory Planning of a 9-DOF Hyper-Redundant Robot[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2008, 31(2): 20-25.

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Research on the Optimal Algorithm for Trajectory Planning of a 9-DOF Hyper-Redundant Robot

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