Trajectory Planning for Robot Manipulators Based on State Space

摘要

A new trajectory planning approach for robot manipulators is proposed. The state space for manipulator system is defined and constructed, by which the reachable scope of the system state is traced out according to the system's internal and external constraints. Conditions of performing successfully the task are given. For realizable task, the optimal strategy for task execution is obtained. If the task is unrealizable, it could be transformed to be achievable via adjusting system's configuration or constraint, and the transformation condition for task realization could be determined in reconstructed state space. This contributes to design and plan of the robotic tasks. Point-to-point tasks for 2-link manipulator are investigated and hardware results show the validity of the proposed method.