Study on minimum-energy collision-free trajectory planning for rigid manipulators

We propose a method of minimum-energy collision-free trajectory planning for a redundant manipulator utilizing the B-spline function and a mathematical programming method. We use the B-spline function for determining the approximate trajectory of a joint angle of each manipulator and the expressions of the outlines of obstacles. We maximize a performance index in order to choose the most dexterous posture of the manipulators. The approximate trajectory is then improved by minimizing another performance index expressing driving energy in consideration of the dynamics of redundant manipulator. According to the simultaneous consideration of driving energy, collision-free and dexterity, it is shown that the proposed method is efficient and practical for the trajectory planning.