An optimization algorithm for trajectory planning of a 7-DOF redundant manipulator

Abstract

A new solution is proposed for the Real-time control of a 7-DOF (Degree Of Freedom) redundant manipulator by taking advantage of its inverse kinematics. The iterative optimization method is used to reduce the amount of calculating while ensuring its precision. In order to complete the manipulator's trajectory planning in Cartesian space, the quintic polynomial interpolation algorithm is established. Finally, the hardware platform as well as the control system for the manipulator is designed. The effectiveness of the trajectory planning method is verified by the analyzing the simulation results. It shows that the algorithm improves the efficiency of the inverse calculating obviously, which also enhance real-time performance of the system. Meanwhile, it meets the requirements for the speed and interpolation precision of the manipulator's performance.