Journal of South China University of Technology (Natural Science Edition) ›› 2016, Vol. 44 ›› Issue (3): 44-50.doi: 10.3969/j.issn.1000-565X.2016.03.007

• Mechanical Engineering • Previous Articles     Next Articles

Motion Planning of Robot on the Basis of Task Decomposition and Speed Distribution

ZHANG Qin FAN Chang-xiang   

  1. School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2015-09-29 Revised:2015-11-04 Online:2016-03-25 Published:2016-02-02
  • Contact: 张勤(1964-)，女，博士，教授，硕士生导师，主要从事机器人及其应用系统研究． E-mail:zhangqin@scut.edu.cn
  • About author:张勤(1964-)，女，博士，教授，硕士生导师，主要从事机器人及其应用系统研究．
  • Supported by:
    Supported by the Industry-Universities-Research Institutes Collaboration Project of Guangdong Province(2012B091100145) and the Science and Technology Planning Project of Guangdong Province(2014A020208018)

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Abstract: In order to overcome the motion difficulties of robot near its singularities,a new motion planning algo- rithm is proposed on the basis of task decomposition and speed distribution.In this algorithm,the control task is di- vided into several sub-tasks according to their priorities,and each sub-task is controlled independently.The velocity component of each sub-task is determined according to the driving capability of joint motors and the priority of each sub-task,which helps implement the coordinated movement of robot even in the condition of low flexibility when the robot moves near the singularities or stays in the singularities,thus achieving the control objective and avoiding the vibration,excessive end-effector error and system instability caused by the sudden change of joint relative velocity.By taking a PUMA robot for example,the composition of the control system is illustrated,and the feasibility of the proposed method is proved via simulation.

Key words: robot, motion planning, task decomposition, speed distribution, singularity

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