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PROCEEDINGS OF THE NINTH INTERNATIONAL CONFERENCE ON ENGINEERING COMPUTATIONAL TECHNOLOGY
Edited by: P. Iványi and B.H.V. Topping
Trajectory Planning for a Rotating Extensible Robotic Manipulator: Design for Collision Avoidance and Accurate Position Placement
Department of Design and Engineering, Faculty of Science and Technology, Bournemouth University, Poole, Dorset, United Kingdom
M. Dupac, "Trajectory Planning for a Rotating Extensible Robotic Manipulator: Design for Collision Avoidance and Accurate Position Placement", in P. Iványi, B.H.V. Topping, (Editors), "Proceedings of the Ninth International Conference on Engineering Computational Technology", Civil-Comp Press, Stirlingshire, UK, Paper 56, 2014. doi:10.4203/ccp.105.56
Keywords: motion planning, trajectory, manipulator, robotic arm.
The modelling and simulation of robotic arm manipulators are considered very important factors in planning their end-effector trajectory (motion planning) thus improving productivity and reduce production costs by optimising their designs. To achieve the strategic performance objectives and at least some, if not all, of the design requirements and goals, the existing algorithms need to be re-examined, revised, improved or rewritten. Trajectory planning is a complicated and elaborate task which plays an important role in the design of robotic arm manipulators. Some of those design requirements include minimization of link deflection, collision avoidance, and accurate endeffector position placement (reach different targets) and orientation (achieve specific tasks). To achieve these requirements, new motion planning algorithms, based on accurate mathematical modelling and simulation of the robotic arm manipulators, along with structural design changes should be considered. In this paper a new algorithm for planning the end-effector (active end) trajectory of a rotating extensible robotic link-arm manipulator with collision avoidance and accurate position placement is proposed. The algorithm built upon the "most appropriate" placement of the base of the robotic manipulator takes into consideration the length (design) of the robotic arm manipulator. The trajectory of the end-effector is described using the non-active end of the extensible link and the base location of the manipulator. The non-active end, which control the position of the active end of the robotic arm, follows a constrained trajectory derived using the desired position of the end-effector and the computational geometry theory. With the end-effector kinematic constraints taken into account, optimized trajectories may be considered further.
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