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Dynamic Trajectory Planning of Robot Arms


Affiliations
1 Department of Mechanical Engineering, JNTU College of Engineering, Kukatpally, Hyderabad-500072, India
2 JNT University, Kukatpally, Hyderabad-500072, India
3 Department of Mechanical Engineering, National Institute of Technology, Warangal-506004, India
     

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It is well known that trajectory planning for robots with many degrees of freedom is a complex task. This paper presents a new method for on-line trajectory planning for robotic arms in dynamic environments. The method presented in this paper avoids local minima by using a two-stage framework. The arms react to dynamic environments using a local and reactive planning method restricted to a subset of its configuration space. Since the subset has few degrees of freedom the computational cost of the on-line stage is very low. An off-line stage chooses the subset of the configuration space that minimizes the probability of blockades and inefficient motions.
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  • Dynamic Trajectory Planning of Robot Arms

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Authors

A. Chennakesava Reddy
Department of Mechanical Engineering, JNTU College of Engineering, Kukatpally, Hyderabad-500072, India
P. Ram Reddy
JNT University, Kukatpally, Hyderabad-500072, India
B. Kotiveerachari
Department of Mechanical Engineering, National Institute of Technology, Warangal-506004, India

Abstract


It is well known that trajectory planning for robots with many degrees of freedom is a complex task. This paper presents a new method for on-line trajectory planning for robotic arms in dynamic environments. The method presented in this paper avoids local minima by using a two-stage framework. The arms react to dynamic environments using a local and reactive planning method restricted to a subset of its configuration space. Since the subset has few degrees of freedom the computational cost of the on-line stage is very low. An off-line stage chooses the subset of the configuration space that minimizes the probability of blockades and inefficient motions.