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Velocity Motion Path Control of Redundant Robot Arms

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Advances in Service and Industrial Robotics (RAAD 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 980))

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Abstract

This paper proposes a novel, integrated method for kinematic motion control of a redundant robot arm subject to a prescribed velocity profile of the end effector in task space. Unlike most of the existing solutions this method assumes that the velocity profile of motion is defined in task space and not in joint space. It can be seamlessly extended to support other optimization criteria for the redundant robot arm motion. The capability to optimize the manipulability measure of the robot motion in addition to following a prescribed velocity profile in task space is another important novelty of the proposed solution. The mathematical model provides efficient software implementation. It is tested in different scenarios for kinematic path control of well-known in the literature reference kinematic models of industrial robots. The obtained numerical results allow to compare and evaluate the quality of the obtained solutions with respect to the existing ones. The obtained results can be extended to computing the joint motion of a non-redundant robot arm for a given velocity profile of the end-effector motion.

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Notes

  1. 1.

    The figures in this paper make use of the Robotics Toolbox for MATLAB [12].

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Acknowledgement

This work is supported by the Fund for Scientific Research at Sofia University “St. Kliment Ohridski”.

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Authors and Affiliations

  1. Faculty of Mathematics and Informatics, St. Kliment Ohridski University of Sofia, 5 James Bourchier Blvd., 1164, Sofia, Bulgaria

    Evgeniy Krastev

Authors
  1. Evgeniy Krastev
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Correspondence to Evgeniy Krastev .

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Editors and Affiliations

  1. Department of Computer Science, Robotics Research Lab, Technische Universität Kaiserslautern, Kaiserslautern, Germany

    Karsten Berns

  2. Department of Electrical and Computer Engineering, Electromobility Group, Technische Universität Kaiserslautern, Kaiserslautern, Germany

    Daniel Görges

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Krastev, E. (2020). Velocity Motion Path Control of Redundant Robot Arms. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_10

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