INVERSE KINEMATICS AND TRAJECTORY PLANNING FOR A HYPER-REDUNDANT BIONIC TRUNK-LIKE ROBOT

摘要

This paper deals with the inverse kinematics and trajectory planning problem based on the modal approach for a hyper-redundant bionic trunk-like robot (HRBTLR). The configurations of HRBTLR are characterized by the spatial backbone curve, which is generated by the modal approach. The inverse kinematics of HRBTLR by fitting the spatial backbone curve, as well as the inverse kinematics of the parallel mechanism modules, is obtained by the closed-loop vector equation. A seventh-order polynomial is applied to the trajectory planning to achieve the position, velocity, acceleration and jerk of the actuating joints. In this way, the positions/orientations of the parallel mechanism modules are interpolated to get a smooth trajectory without impact. The trajectory planning for an HRBTLR based on the presented method has been used for the development of a prototype.