Manipulator Trajectory Planning Using Geodesic Method

摘要: A novel manipulator trajectory planning approach using geodesic is proposed in this paper. Geodesic the necessary condition of shortest length between two points on Riemannian surface which covariant derivative geodesic’s tangent vector zero. The geometric characteristic discussed and used to implement manipulator. First, metric constructed according task, e.g. establish a distance by arc achieve path. Once obtained, corresponding solely determined. Then equations can be attained. For given initial conditions trajectory, solved results are optimal joint space for metric. planned trajectories also mapped into workspace. To demonstrate effectiveness approach, simulation experiments conducted some typical manipulators, spatial 3R, 3-PSS parallel planar 3R manipulators.