Bio-inspired Trajectory Generation for Robotic Manipulators Based on Intrinsic Tau Exponential Guidance Strategy
Zhiqiang Wang, Jinzhu Peng, Shuai Ding · 2021 China Automation Congress (CAC) · 2021
In this paper, a novel bio-inspired trajectory generation method is proposed based on the intrinsic Tau exponential (Tau-E) guidance strategy. The intrinsic guidance movement (IGM) of the Tau theory is firstly selected as an exponential function, which shows the feasibility to choose a function without physical significance. The Tau-E is derived to generate the trajectories of robotic manipulators and capable of guiding other objects. Tau-E guidance strategy can achieve the benefits of faster computation and fewer parameters with the similar performance in comparison to other similar Tau-based guidance strategies. Moreover, the feasible interval of coupling coefficient is enlarged and can be calculated according to the motion gap by using the proposed Tau-E guidance strategy. The simulation and experimental tests demonstrate the effectiveness of the proposed Tau-E guidance strategy.