Trajectory Optimization for Redundant/Hyper Redundant Manipulators

Abstract

This paper presents an optimization technique to generate minimum energy consumption trajectories for redundant/hyper-redundant manipulators with constraint conditions. Two novel methods are combined for trajectory optimization technique. In the first method, the system's constraints are handled in a sequential manner within the cost function in order to avoid running the inverse dynamics when the system's constraints are not satisfied. In the second method, a novel virtual link concept is introduced to replace all the redundant links of the redundant/hyper-redundant manipulators. The method is verified on a three-degree-of-freedom redundant manipulator and the result is also demonstrated with computer simulations based on an 8-link planar hyper-redundant manipulator. (C) 2017 The Authors. Published by IASE.