Motion planning for 6R-Robots: multiple tasks with constrained velocity and orientation of the end-effector

ABSTRACT

In the present paper¹ we consider the kinematic properties of robots with 6 rotational joints and describe an approach for optimization of robot motion due to given geometric and differential constraints (i.e. constraints on velocity and orientation of the robot end-effector during the execution of some tasks, and limits on velocities and accelerations during the overall workcycle). We consider the non-academic, highly nonlinear model of a commercially available robot (KUKA robots with 6 rotation joints) and discuss several objectives for optimal motion. Given equations of robot motion in matrix form, we shall utilize the freedom in position and orientation of the robot end-effector during the task execution and express the solution space for our optimization task explicitly using computation of Moore-Penrose pseudoinverses of matrices with polynomial entries.

REFERENCES

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INDEX TERMS

Primary Classification:
  J. Computer Applications
  J.2 PHYSICAL SCIENCES AND ENGINEERING

General Terms:
Algorithms

Keywords:
computer algebra, motion planning