Multi-segment trajectory tracking of the redundant space robot for smooth motion planning based on interpolation of linear polynomials with parabolic blend

Abstract

This work presents multi-segment trajectory tracking of the redundant space robot for smooth motion planning based on interpolation of linear polynomials with the parabolic blend. First, direct kinematics equation is inhibited with cuckoo search algorithm (CSA) to avoid orientation singularity. Second, the Bezier curve has been used to depict the shape of the joint trajectory by interpolating linear polynomials with the parabolic blend. Third, CSA is used to find the optimal solution of joint trajectories by satisfying the imposed constraints (joint velocity and acceleration).Fourth, various influencing variables, such as joint angles, joint rates, joint accelerations, end-effector attitude quaternion, end-effector position, and base attitude orientation are optimized so that the end-effector smoothly achieves the desired pose by stabilizing the base attitude. At last, the jerk minimized motion planning scheme is executed concerning imposed constraints such as (joint angles, angular velocities, angular accelerations, and torque). The proposed methodology of a redundant 7 Degree of Freedom (DOF) space robot has validated the efficacy of the proposed method. Using this method, a smooth trajectory path is achieved by controlling base attitude orientation while maintaining the end-effector pose during task completion. Additionally, with proposed jerk minimized motion planning, the manipulator vibration is reduced.

Optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller

“…A redundant space manipulator consists of independently adjustable mechanical axes. [8][9][10] Nguyen et al 11 implemented adaptive control technique in joint space for operations in space environment. Colbaugh and Glass 12 proposed adaptive scheme for control of 9DOF compound manipulator.…”

Trajectory Smoothing Planning of Delta Parallel Robot Combining Cartesian and Joint Space

“…A multiaxis real-time synchronous look-ahead trajectory planning algorithm was proposed by Liang et al [19] based on dynamically given position and velocity sequences under the constraint of maximum velocity and the acceleration of each joint axis. Shrivastava et al [20] used the cuckoo search algorithm to suppress the linear motion equation to avoid the directional singularity in Cartesian space. Then, the Bezier curve was used to depict the shape of the joint trajectory by interpolating the linear polynomials with the parabolic blend.…”

Software Development for the Use of Generalized Parabolic Blending in Data Prediction Processes

“…The basic approach in this matter can be shown by defining the smallest degree polynomial passing through all control points, as in the Lagrangian interpolation polynomial or the Newton divided difference polynomial. Parabolic curves also find a place in the areas of practical solutions of theoretical calculations such as multi-segment trajectory tracking of the redundant space robot for smooth motion [1], free vibration analysis of a variable stiffness composite laminate square plate with circular cutout [2] and describing the viscoelastic behavior of a shape memory polymer blend [3].…”