Parameterization-based trajectory planning for an 8-DOF manipulator with multiple constraints

Abstract

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.

Keywords

8-DOF manipulator / Trajectory planning / Parameterization / Obstacle constraints / Teaching-learning-based optimization

1 CRediT authorship contribution statement

Ziwu Ren: Writing - original draft, Investigation, Conceptualization. Zhongyuan Wang: Writing - review & editing, Data curation. Xiaohan Liu: Writing - review & editing, Validation. Rui Lin: Writing - original draft, Supervision, Conceptualization.

2 Declaration of competing interest

The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

3 Acknowledgments

This work is supported by Jiangsu (Industry Foresight and Key Core Technology) Key Research and Development Project (BE2022137), and the National Natural Science Foundation of China (51675358).

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