Efficient Algorithms for the Kinematics and Path Planning of Manipulator

Abstract

The two basic problems of the automatic control of robotic manipulators are the kinematics and the path planning, which are the fundamental for computer controlled robots. The article presented fast and efficient algorithms for the inverse kinematics and path planning of manipulator consisting of six revolute joints. Through the control, we cause the end-effector of the manipulator to the maximum possible nearby of the expecting position and orientation with some small deviations in the permissible scope. In the solving, the problem of inverse kinematics was reduced to a system of algebraic equations. In the paper, we used a series of algebraic and numeric transformations to reduce the difficult problem to compute the values of the matrix. The resulting algorithm computed all the solutions of manipulators with six revolute joints. In the path planning, we made the end-effector of the manipulator smoothly in the initial and final position and a larger speed in the middle process using the improved method combined of fourth-order cubic and B-spline curve. The above mentioned approaches have been applied in our hand-eye coordinate system.