Jixie chuandong (Aug 2022)
Trajectory Planning of Energy Consumption Optimal Redundant Manipulators with Constraints
Abstract
Aiming at the problem of how to reduce the complexity of trajectory optimization of redundant or super-redundant manipulators， a constrained energy consumption optimal manipulator trajectory planning method is proposed. The dynamics of the redundant manipulator are modeled based on lagrange dynamics， and the motion trajectory is constructed using the uniform quintic B-spline function. In order to improve the computational efficiency of trajectory optimization， a new penalty algorithm is designed through dealing with the kinematic and dynamic constraints in the cost function calculation， so as to avoid running the inverse dynamic model when all the constraints are not met. Before running the inverse dynamic model for trajectory optimization， a new virtual link concept is introduced to replace all redundant links to eliminate the physically impossible configuration. The proposed method is verified by experiments on a three-degree-of-freedom redundant manipulator at the same time. The research results show that the simulation and the actual measurement obtain the same expected optimal trajectory tracking performance， and the energy consumption after trajectory optimization is significantly reduced by about 56.32%， which verifies the effectiveness of the proposed trajectory planning optimization method.
