期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
期号：5
DOI：10.1177/1729881416657742
语种：English
出版社：SAGE Publications
摘要：The present work proposes an improved geodesic algorithm for the trajectory planning of multi-joint robots. First, all of the joint variables are chosen to set up a generalized local coordinate system for the product of the positional space and the orientational one. Second, by defining a new Riemannian metric that contains both the positional and rational parameters, the traditional geodesic algorithm is improved so that it becomes capable of planning robot trajectories that include both the position and the orientation. To demonstrate the effectiveness of the improvement, trajectories are planned for two typical joint robots: one being a planar 3R and the other a spatial RRPP. It is verified that the improved algorithm can generate not only smooth motions for the joints but also smooth and accurate motions for the end-effector. The improved algorithm applies to multi-joint robots with no more than six degrees of freedom.
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