Bio-inspired motion planning for reaching movement of a manipulator based on intrinsic tau jerk guidance

doi:10.1007/s40436-019-00268-z

Advances in Manufacturing ›› 2019, Vol. 7 ›› Issue (3): 315-325.doi: 10.1007/s40436-019-00268-z

Bio-inspired motion planning for reaching movement of a manipulator based on intrinsic tau jerk guidance

Zhen Zhang, Xu Yang

School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, People's Republic of China

收稿日期:2018-12-25 修回日期:2019-03-19 出版日期:2019-09-25 发布日期:2019-10-09
通讯作者: Zhen Zhang E-mail:zhangzhen_ta@shu.edu.cn
基金资助:
This work was jointly supported by the National Natural Science Foundation of China (Grant No. 51005143) and Shanghai Science and Technology Commission (Grant No. 18JC1410402).

Bio-inspired motion planning for reaching movement of a manipulator based on intrinsic tau jerk guidance

Zhen Zhang, Xu Yang

School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, People's Republic of China

Received:2018-12-25 Revised:2019-03-19 Online:2019-09-25 Published:2019-10-09
Contact: Zhen Zhang E-mail:zhangzhen_ta@shu.edu.cn
Supported by:
This work was jointly supported by the National Natural Science Foundation of China (Grant No. 51005143) and Shanghai Science and Technology Commission (Grant No. 18JC1410402).

摘要/Abstract

摘要： This study proposed a bio-inspired motion planning approach for the reaching movement of a robot manipulator based on a novel intrinsic tau jerk guidance strategy, which was established by some cognitive science researchers when they studied motion patterns through biology. In accordance with the rules of human reaching movement, the intrinsic tau jerk guidance strategy ensures continuity of the acceleration; further, it also ensures that its value is zero at the start and end of the movement. The approach has been implemented on a three-degrees-offreedom 3R planar manipulator. The results show that, within a defined time, both the position gap and attitude gap can be reposefully closed, and the curves of joint velocity, acceleration, and driving torque are continuous and smooth. According to the dynamic analysis, the proposed approach tends to consume less energy. The bioinspired method has the potential to be applied in particular scenarios in the future, such as a mobile robot with a manipulator exploring an unknown environment.

The full text can be downloaded at https://link.springer.com/content/pdf/10.1007%2Fs40436-019-00268-z.pdf

关键词: Bio-inspired, Motion planning, Manipulator, Reaching movement, Intrinsic tau jerk guidance

Abstract: This study proposed a bio-inspired motion planning approach for the reaching movement of a robot manipulator based on a novel intrinsic tau jerk guidance strategy, which was established by some cognitive science researchers when they studied motion patterns through biology. In accordance with the rules of human reaching movement, the intrinsic tau jerk guidance strategy ensures continuity of the acceleration; further, it also ensures that its value is zero at the start and end of the movement. The approach has been implemented on a three-degrees-offreedom 3R planar manipulator. The results show that, within a defined time, both the position gap and attitude gap can be reposefully closed, and the curves of joint velocity, acceleration, and driving torque are continuous and smooth. According to the dynamic analysis, the proposed approach tends to consume less energy. The bioinspired method has the potential to be applied in particular scenarios in the future, such as a mobile robot with a manipulator exploring an unknown environment.

The full text can be downloaded at https://link.springer.com/content/pdf/10.1007%2Fs40436-019-00268-z.pdf

Key words: Bio-inspired, Motion planning, Manipulator, Reaching movement, Intrinsic tau jerk guidance

Zhen Zhang, Xu Yang. Bio-inspired motion planning for reaching movement of a manipulator based on intrinsic tau jerk guidance[J]. Advances in Manufacturing, 2019, 7(3): 315-325.

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Bio-inspired motion planning for reaching movement of a manipulator based on intrinsic tau jerk guidance

Bio-inspired motion planning for reaching movement of a manipulator based on intrinsic tau jerk guidance

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