Trajectory planning for a rotating extensible robotic manipulator: Design for collision avoidance and accurate position placement

This source preferred by Mihai Dupac

Authors: Dupac, M.

Editors: Iványi, P. and Topping, B.H.V.

Volume: CCP: 105

Publisher: Civil-Comp Press

Place of Publication: Stirlingshire, UK

ISBN: 978-1-905088-60-7

DOI: 10.4203/ccp.105.56

The modelling and simulation of robotic arm manipulators are considered very important factors in planning their end-effector trajectory (motion planning) thus improving productivity and reduce production costs by optimising their designs. To achieve the strategic performance objectives and at least some, if not all, of the design requirements and goals, the existing algorithms need to be re-examined, revised, improved and/or rewritten. Trajectory planning is a complicated and elaborate task which plays an important role in the design of robotic arm manipulators. Some of those design requirements include minimization of link deflection, collision avoidance, and accurate end-effector position placement (reach different targets) and orientation (achieve specific tasks). To achieve these requirements, new motion planning algorithms, based on accurate mathematical modelling and simulation of the robotic arm manipulators, along with structural design changes should be considered. In this paper a new algorithm for planning the end-effector (active end) trajectory of a rotating extensible robotic link/arm manipulator with collision avoidance and accurate position placement is proposed. The algorithm built upon the ‘most appropriate’ placement of the base of the robotic manipulator take into consideration the length (design) of the robotic arm manipulator. The trajectory of the end-effector is described using the non-active end of the extensible link and the base location of the manipulator. The non-active end - which control the position of the active end of the robotic arm – follows a constrained trajectory derived using the desired position of the end-effector and the computational geometry theory. With the end-effector kinematic constraints taken into account, optimized trajectories may be considered further.

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Authors: Dupac, M.

Volume: 105

© Civil-Comp Press, 2014. The modelling and simulation of robotic arm manipulators are considered very important factors in planning their end-effector trajectory (motion planning) thus improving productivity and reduce production costs by optimising their designs. To achieve the strategic performance objectives and at least some, if not all, of the design requirements and goals, the existing algorithms need to be re-examined, revised, improved or rewritten. Trajectory planning is a complicated and elaborate task which plays an important role in the design of robotic arm manipulators. Some of those design requirements include minimization of link deflection, collision avoidance, and accurate endeffector position placement (reach different targets) and orientation (achieve specific tasks). To achieve these requirements, new motion planning algorithms, based on accurate mathematical modelling and simulation of the robotic arm manipulators, along with structural design changes should be considered. In this paper a new algorithm for planning the end-effector (active end) trajectory of a rotating extensible robotic link-arm manipulator with collision avoidance and accurate position placement is proposed. The algorithm built upon the 'most appropriate' placement of the base of the robotic manipulator takes into consideration the length (design) of the robotic arm manipulator. The trajectory of the end-effector is described using the non-active end of the extensible link and the base location of the manipulator. The non-active end, which control the position of the active end of the robotic arm, follows a constrained trajectory derived using the desired position of the end-effector and the computational geometry theory. With the end-effector kinematic constraints taken into account, optimized trajectories may be considered further.

The data on this page was last updated at 04:40 on November 19, 2017.