Research on an Adaptive Motion Planning Method for Multi-joint Hyper-redundant Robots
An adaptive motion planning method is proposed for the problems of complex kinematic solution, large configuration deviation of traditional multi-joint hyper-redundant robots. Firstly, an improved trajectory tracking algorithm is proposed for the task requirement of entering and leaving a narrow wor...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-08-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.08.004 |
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| _version_ | 1841546938155008000 |
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| author | Luo Shuangbao Zeng Fengfei Zeng Xiaoshan Qiang Hua Wang Xiaoyang |
| author_facet | Luo Shuangbao Zeng Fengfei Zeng Xiaoshan Qiang Hua Wang Xiaoyang |
| author_sort | Luo Shuangbao |
| collection | DOAJ |
| description | An adaptive motion planning method is proposed for the problems of complex kinematic solution, large configuration deviation of traditional multi-joint hyper-redundant robots. Firstly, an improved trajectory tracking algorithm is proposed for the task requirement of entering and leaving a narrow working space. By discrete target trajectory and segment fitting, the computational effort can be reduced, and the adaptive trajectory tracking control can be achieved. Then a bidirectional iterative tractor trajectory planning algorithm is proposed for the robot base fixed working condition. The target trajectory is obtained based on the end-traction method. By using the geometric property of the tractrix progressive convergence, the motion range of joints near the base is gradually reduced, the stability is improved, and the energy consumption is reduced. The adaptive trajectory control in the base fixed state is achieved through bi-directional iterative tractrix accelerated convergence. Finally, a simulation model containing 12 joints and (24+1） degrees of freedom is constructed， and the effectiveness of the adaptive motion planning method for the entire process of robot operation is verified. |
| format | Article |
| id | doaj-art-4399757562c847f0992ba8a9b027e524 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-4399757562c847f0992ba8a9b027e5242025-01-10T15:01:14ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-08-0148263267631603Research on an Adaptive Motion Planning Method for Multi-joint Hyper-redundant RobotsLuo ShuangbaoZeng FengfeiZeng XiaoshanQiang HuaWang XiaoyangAn adaptive motion planning method is proposed for the problems of complex kinematic solution, large configuration deviation of traditional multi-joint hyper-redundant robots. Firstly, an improved trajectory tracking algorithm is proposed for the task requirement of entering and leaving a narrow working space. By discrete target trajectory and segment fitting, the computational effort can be reduced, and the adaptive trajectory tracking control can be achieved. Then a bidirectional iterative tractor trajectory planning algorithm is proposed for the robot base fixed working condition. The target trajectory is obtained based on the end-traction method. By using the geometric property of the tractrix progressive convergence, the motion range of joints near the base is gradually reduced, the stability is improved, and the energy consumption is reduced. The adaptive trajectory control in the base fixed state is achieved through bi-directional iterative tractrix accelerated convergence. Finally, a simulation model containing 12 joints and (24+1） degrees of freedom is constructed， and the effectiveness of the adaptive motion planning method for the entire process of robot operation is verified.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.08.004Multi-joint hyper-redundant robotIterative tractrixEnd-tractionMotion planning |
| spellingShingle | Luo Shuangbao Zeng Fengfei Zeng Xiaoshan Qiang Hua Wang Xiaoyang Research on an Adaptive Motion Planning Method for Multi-joint Hyper-redundant Robots Jixie chuandong Multi-joint hyper-redundant robot Iterative tractrix End-traction Motion planning |
| title | Research on an Adaptive Motion Planning Method for Multi-joint Hyper-redundant Robots |
| title_full | Research on an Adaptive Motion Planning Method for Multi-joint Hyper-redundant Robots |
| title_fullStr | Research on an Adaptive Motion Planning Method for Multi-joint Hyper-redundant Robots |
| title_full_unstemmed | Research on an Adaptive Motion Planning Method for Multi-joint Hyper-redundant Robots |
| title_short | Research on an Adaptive Motion Planning Method for Multi-joint Hyper-redundant Robots |
| title_sort | research on an adaptive motion planning method for multi joint hyper redundant robots |
| topic | Multi-joint hyper-redundant robot Iterative tractrix End-traction Motion planning |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.08.004 |
| work_keys_str_mv | AT luoshuangbao researchonanadaptivemotionplanningmethodformultijointhyperredundantrobots AT zengfengfei researchonanadaptivemotionplanningmethodformultijointhyperredundantrobots AT zengxiaoshan researchonanadaptivemotionplanningmethodformultijointhyperredundantrobots AT qianghua researchonanadaptivemotionplanningmethodformultijointhyperredundantrobots AT wangxiaoyang researchonanadaptivemotionplanningmethodformultijointhyperredundantrobots |