Optimal Motion Planning Considering Task Redundancy in Trajectory Tracking Applications for Industrial Robot
- Resource Type
- Conference
- Authors
- Gao, Wenxiang; Tang, Qing; Yao, Jin
- Source
- 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) Robotics and Biomimetics (ROBIO), 2022 IEEE International Conference on. :1580-1585 Dec, 2022
- Subject
- Computing and Processing
Robotics and Control Systems
Industries
Costs
Service robots
Trajectory tracking
Redundancy
Trajectory
Planning
Task redundancy
collision-free motion plan-ning
optimality
singularity
joint limits
- Language
Task redundancy which is defined as that a robotic manipulator has more degrees of freedom than those strictly required to execute a given task exists in most industrial applications. This paper focuses on how to automatically generate a collision-free motion trajectory for an industrial robot with task redundant applications in a complex environment. The task redundant space is divided into grid for trajectory tracking motion planning. The expanding process map the joint space to the task redundant space for neighborhood searching. The cost evaluation not only calculates the distance in task redundant space but also considers the cost defined in joint space including both singularity and joint limits. The simulation experiments verify that our proposed algorithm not only could realize a collision-free motion and handle the singularity and joint limits, but also be able to track complex end effector trajectory within an obstacle-intensive environment. The results show that the proposed algorithm could be used in all kinds of task redundant trajectory applications in industry.