Parameterization-based trajectory planning for an 8-DOF manipulator with multiple constraints
A physically feasible, reliable, and safe motion is essential for robot operation. A parameterization-based trajectory planning approach is proposed for an 8-DOF manipulator with multiple constraints. The inverse kinematic solution is obtained through an analytical method, and the trajectory is plan...
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| Format: | Article |
| Language: | English |
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Elsevier
2025-03-01
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| Series: | Biomimetic Intelligence and Robotics |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2667379724000512 |
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| _version_ | 1832595712638976000 |
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| author | Ziwu Ren Zhongyuan Wang Xiaohan Liu Rui Lin |
| author_facet | Ziwu Ren Zhongyuan Wang Xiaohan Liu Rui Lin |
| author_sort | Ziwu Ren |
| collection | DOAJ |
| description | A physically feasible, reliable, and safe motion is essential for robot operation. A parameterization-based trajectory planning approach is proposed for an 8-DOF manipulator with multiple constraints. The inverse kinematic solution is obtained through an analytical method, and the trajectory is planned in joint space. As such, the trajectory planning of the 8-DOF manipulator is transformed into a parameterization-based trajectory optimization problem within its physical, obstacle and task constraints, and the optimization variables are significantly reduced. Then teaching–learning-based optimization (TLBO) algorithm is employed to search for the redundant parameters to generate an optimal trajectory. Simulation and physical experiment results demonstrate that this approach can effectively solve the trajectory planning problem of the manipulator. Moreover, the planned trajectory has no theoretical end-effector deviation for the task constraint. This approach can provide a reference for the motion planning of other redundant manipulators. |
| format | Article |
| id | doaj-art-cd1ba9f230d6463c83376ad64443f3f6 |
| institution | Kabale University |
| issn | 2667-3797 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Biomimetic Intelligence and Robotics |
| spelling | doaj-art-cd1ba9f230d6463c83376ad64443f3f62025-01-18T05:05:29ZengElsevierBiomimetic Intelligence and Robotics2667-37972025-03-0151100193Parameterization-based trajectory planning for an 8-DOF manipulator with multiple constraintsZiwu Ren0Zhongyuan Wang1Xiaohan Liu2Rui Lin3Corresponding authors.; Robotics and Microsystems Research Center, Soochow University, Suzhou 215131, ChinaRobotics and Microsystems Research Center, Soochow University, Suzhou 215131, ChinaRobotics and Microsystems Research Center, Soochow University, Suzhou 215131, ChinaCorresponding authors.; Robotics and Microsystems Research Center, Soochow University, Suzhou 215131, ChinaA physically feasible, reliable, and safe motion is essential for robot operation. A parameterization-based trajectory planning approach is proposed for an 8-DOF manipulator with multiple constraints. The inverse kinematic solution is obtained through an analytical method, and the trajectory is planned in joint space. As such, the trajectory planning of the 8-DOF manipulator is transformed into a parameterization-based trajectory optimization problem within its physical, obstacle and task constraints, and the optimization variables are significantly reduced. Then teaching–learning-based optimization (TLBO) algorithm is employed to search for the redundant parameters to generate an optimal trajectory. Simulation and physical experiment results demonstrate that this approach can effectively solve the trajectory planning problem of the manipulator. Moreover, the planned trajectory has no theoretical end-effector deviation for the task constraint. This approach can provide a reference for the motion planning of other redundant manipulators.http://www.sciencedirect.com/science/article/pii/S26673797240005128-DOF manipulatorTrajectory planningParameterizationObstacle constraintsTeaching–learning-based optimization |
| spellingShingle | Ziwu Ren Zhongyuan Wang Xiaohan Liu Rui Lin Parameterization-based trajectory planning for an 8-DOF manipulator with multiple constraints Biomimetic Intelligence and Robotics 8-DOF manipulator Trajectory planning Parameterization Obstacle constraints Teaching–learning-based optimization |
| title | Parameterization-based trajectory planning for an 8-DOF manipulator with multiple constraints |
| title_full | Parameterization-based trajectory planning for an 8-DOF manipulator with multiple constraints |
| title_fullStr | Parameterization-based trajectory planning for an 8-DOF manipulator with multiple constraints |
| title_full_unstemmed | Parameterization-based trajectory planning for an 8-DOF manipulator with multiple constraints |
| title_short | Parameterization-based trajectory planning for an 8-DOF manipulator with multiple constraints |
| title_sort | parameterization based trajectory planning for an 8 dof manipulator with multiple constraints |
| topic | 8-DOF manipulator Trajectory planning Parameterization Obstacle constraints Teaching–learning-based optimization |
| url | http://www.sciencedirect.com/science/article/pii/S2667379724000512 |
| work_keys_str_mv | AT ziwuren parameterizationbasedtrajectoryplanningforan8dofmanipulatorwithmultipleconstraints AT zhongyuanwang parameterizationbasedtrajectoryplanningforan8dofmanipulatorwithmultipleconstraints AT xiaohanliu parameterizationbasedtrajectoryplanningforan8dofmanipulatorwithmultipleconstraints AT ruilin parameterizationbasedtrajectoryplanningforan8dofmanipulatorwithmultipleconstraints |