Trajectory Planning for Hyper-Redundant Manipulators Based on Lie Theory

Abstract

Trajectory planning has always been an area worthy of attention in the application of hyper-redundant robots. This paper proposes a method using Lie group to achieve trajectory planning for hyper-redundant manipulators. When a discretized trajectory generated by the cubic spline interpolation is given, the trajectory planning problem in Cartesian space is transformed into finding the numerical solution of inverse kinematics (IK). Thus, we establish a trajectory planning system that focuses on the IK algorithm combining feedforward and feedback control based on Lie theory. Redundancy is used to obtain the optimal configuration which avoids joint limits and singularities. The performance of the proposed approach is validated by the simulation conducting on the self-developed hyper-redundant manipulator.