Globally Optimal Trajectory Planning for Redundant Manipulators using State Space Augmentation Method

Authors:
Zhen-Lei Zhou;Charles C. Nguyen
Affiliations:
Robotics and Control Laboratory, School of Engineering, Catholic University of America, Washington DC 20064/ e-mail: nguyen@pluto.ee.cua.edu;Robotics and Control Laboratory, School of Engineering, Catholic University of America, Washington DC 20064/ e-mail: nguyen@pluto.ee.cua.edu
Venue:
Journal of Intelligent and Robotic Systems
Year:
1997

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Abstract

The off-line global trajectory planning for kinematically redundant manipulators is formulated as an optimization problem whose solution is obtained by applying the Pontryagin’s Maximum Principle. The state space augmentation method is developed to obtain a set of optimal joint trajectories corresponding to a singularity-free Cartesian path which avoids joint limits and conserves joint configuration in cyclic motion. Results of computer simulation conducted on a three-degree-of-freedom planar manipulator are presented and discussed.