Kinematic Modelling of a Robot Manipulator using Geodesic Method

Abstract

Robots are being extensively used for several industrial applications to achieve high productivity through automation. In industrial robot’s trajectory is a timing law specified by considering velocities and accelerations at each and every point. Achieving shortest robotic trajectories in such complicated environments demands optimal trajectory planning methods. The primary reason for existing of this work is to find the trajectory which is smooth, precise and continuous along a direction to perform the task successfully. This investigation has been focused on smooth and efficient trajectory planning method using geodesic approach for industrial robot models. The geodesic method gives the shortest path which is one of the best mathematical formulation methods.
The current research work aims at finding the workspace of the robot, developing mathematical models to generate an optimum trajectory and to find the optimal trajectory using geodesic method. In the present research work two approaches are compared. In one approach both position and orientation matrix are considered independently and then calculated the Riemannian metric and then trajectory is generated. In another approach both position and orientation matrix are combined and then generated the trajectory. This method concerns the robot less than 6 DOF and focuses exclusively on linear motions.