Bio-inspired motion planning for reaching movement of a manipulator based on intrinsic tau jerk guidance

Abstract

This study proposed a bio-inspired motion planning approach for the reaching movement of a robot manipulator based on a novel intrinsic tau jerk guidance strategy, which was established by some cognitive science researchers when they studied motion patterns through biology. In accordance with the rules of human reaching movement, the intrinsic tau jerk guidance strategy ensures continuity of the acceleration; further, it also ensures that its value is zero at the start and end of the movement. The approach has been implemented on a three-degrees-of-freedom 3R planar manipulator. The results show that, within a defined time, both the position gap and attitude gap can be reposefully closed, and the curves of joint velocity, acceleration, and driving torque are continuous and smooth. According to the dynamic analysis, the proposed approach tends to consume less energy. The bio-inspired method has the potential to be applied in particular scenarios in the future, such as a mobile robot with a manipulator exploring an unknown environment.

Keywords

Bio-inspired / Motion planning / Manipulator / Reaching movement / Intrinsic tau jerk guidance

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Funding

National Natural Science Foundation of China http://dx.doi.org/10.13039/501100001809(51005143)