A motion planning algorithm for redundant kinematic structure

In this paper a motion planning algorithm for a mechanical system with redundant degrees of freedom is presented. This algorithm measures the motion vectors on the tool end which were generated by each degree of freedom. The components of these vectors on the desired moving direction are compared and used to determine the moving range of each degree of freedom. Convergence of the trajectory of machine tool to the desired path or end point is ensured by an error control function which also affects the moving ranges. The effectiveness of this approach is illustrated through the results of computer simulation