Optimised collision-free trajectory and controller design for robotic manipulators
Asma Seddaoui, Chakravarthini Mini Saaj · Surrey Research Insight Open Access (The University of Surrey) · 2017
Path planning and collision avoidance are two crucial interconnected algorithms used to perform desired tasks for both fixed and moving base manipulators. In this paper, the collision-free trajectory generation algorithm presented for capturing a stationary target is a newer form of the state-of-the-art method using cycloids. It is further optimised to minimise the distance between the obstacle and the manipulator. A control algorithm using the Computed Torque Control to accurately track the pre-designed trajectory is discussed. The simulations results presented in this paper verify the efficacy and robustness of the controller based on the non-linear dynamical model of the robotic manipulator. The optimised collision-free trajectory resulted in smooth joint displacement, velocity and acceleration. Moreover, the algorithm presented can be applied to ground based and space based stationary or moving robotic manipulators.