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Trajectory planning of large redundant manipulator considering kinematic constraints and energy efficiency

Published online by Cambridge University Press:  22 August 2023

Zhenyu Liu ,
Yu Huang ,
Daxin Liu Open the ORCID record for Daxin Liu [Opens in a new window] ,
Xuxin Guo ,
Ke Wang  and
Jianrong Tan
Zhenyu Liu
Affiliation:
State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China
Yu Huang
Affiliation:
State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China
Daxin Liu*
Affiliation:
State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China
Xuxin Guo
Affiliation:
State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China
Ke Wang
Affiliation:
State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China
Jianrong Tan
Affiliation:
State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China
*
Corresponding author: Daxin Liu; E-mail: liudx@zju.edu.cn
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Abstract

For the large redundant manipulator, due to its long working distance and large mass, the number of links (i.e., manipulator’s arms) that can be driven to move simultaneously is limited. Otherwise, the control accuracy and motion stability of the manipulator will deteriorate. Focusing on that, a weighted Newton iteration (WNI) algorithm for trajectory planning of the manipulator is firstly proposed, where the motion of the manipulator joints is controlled by a weight matrix, which is constant and related to each link’s energy consumption. To dynamically adjust the weight matrix according to kinematic constraints and acquire better energy efficiency, an adaptive WNI (AWNI) algorithm is further proposed. In AWNI, the weight matrix is adjusted in real-time during the planning process, with considerations of the kinematic constraints and the energy consumption of the manipulator. The switch of the links between the working state and the non-working state is made through the weight matrix to achieve flexible control of the manipulator motion. Two evaluation functions are established to validate the effectiveness of AWNI in energy saving and motion stability control. Taking a 6 degrees of freedom (DOF) manipulator as an example, simulation experiments on trajectory planning are carried out and the results show the effectiveness of the proposed AWNI algorithm.

Keywords

large redundant manipulatortrajectory planningmotion stabilityenergy savingadaptive weighted method
Type
Research Article
Information
Robotica , Volume 41 , Issue 11 , November 2023 , pp. 3524 - 3540
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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