A Motion Planning Scheme to Avoid Structural Damage of Robotic Arms

摘要

A motion-planning scheme that enables robotic arms to avoid structural damage is developed by implementing risk determination and motion modification algorithms in a finite element code. The scheme searches safer motion of robotic arms when their structural risk determined by a function of sectional forces becomes higher than a threshold during their given tasks. The safer motion is achieved by decreasing the total strain energy stored in the structure of the robot. Some examples of motion modification are demonstrated by giving lift-up and lateral carrying tasks to a robotic arm, where the achieved motions are compared by varying the structural parameters. Furthermore, the proposed scheme is implemented in an interface of a robotic arm to verify its applicability and practicability in actual motion control.