Trajectory optimization for redundant/hyper redundant manipulators

Article history: Received 28 February 2017 Received in revised form 17 September 2017 Accepted 21 September 2017 This paper presents an optimization technique to generate minimum energy consumption trajectories for redundant/hyper-redundant manipulators with constraint conditions. Two novel methods are combined for trajectory optimization technique. In the first method, the system's constraints are handled in a sequential manner within the cost function in order to avoid running the inverse dynamics when the system’s constraints are not satisfied. In the second method, a novel virtual link concept is introduced to replace all the redundant links of the redundant/hyper-redundant manipulators. The method is verified on a three-degree-of-freedom redundant manipulator and the result is also demonstrated with computer simulations based on an 8-link planar hyper-redundant manipulator.

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