Development of a Dynamics-Based Continuous Time Motion Planning Algorithm for a 6 Degrees of Freedom Robot arm under constraints

Abstract

In this paper, we solve a motion planning problem for a 6-DoF robot arm, which is a practical nonlinear system, under constraints. Our method formulates the problem to a NLP under constraints with parameterizing a trajectory of joints. Furthermore, we use a Lie group formulation of recursive inverse dynamics algorithm for checking control constraints with low computational cost. We checked that our algorithm solves the problem in practical computational time by a numerical simulation.