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

摘要

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.