Design of High-Precision Motion Planning and Optimization Strategies Based on Redundant Robot Arms

Abstract

Robot arms play a pivotal role as actuators in industrial production, finding widespread applications across diverse sectors. Redundant robot arms, distinguished by their surplus joint degrees of freedom relative to task requirements, offer a spectrum of advanced performance capabilities. Within the realm of redundant robot arms, motion planning emerges as a cornerstone area of investigation. This paper presents an innovative approach to high-precision motion planning within the field of redundant robot arms. First, the pseudo-inverse scheme prevalent in robot arm motion planning is noted. Subsequently, using a process of discretizing the difference formula, we finally propose a high-precision motion planning scheme. Finally, the effectiveness and superiority of this novel motion planning method are strictly evaluated through the combination of theoretical analysis and simulation experiments. Notably, these experiments utilized a comprehensive range of scenarios, including a five-link manipulator operated in a flat environment and the well-known UR 5 robot arm. This extended discussion highlights the profound significance of motion planning in the context of redundant robot arms, demonstrating innovative advances in improving the precision and effectiveness of robot arm operations. Through careful analysis and experiments, this paper makes substantial contributions to the development of robot arm research, which is expected to improve performance and universal functionality in industrial applications.