A novel variational approach for collision-free trajectory planningof robot manipulators

摘要

The objective of the paper is to establish a mathematicalframework for the variational approach for collision free trajectoryplanning of a robot manipulator, examine it from an engineeringperspective and demonstrate the importance of the dynamiccharacteristics. The framework is based on the energetic concept of aninstantaneous energy balance of a dynamic system. Within the framework,different energy forms are defined for obstacle, environmentalconstraints and task requirements according to their functionalcharacteristics. By applying Hamilton's principle, the generaldifferential control equations of the system are derived. The simulatedresults demonstrate the elegance and robustness of the currentvariational approach