A unified approach to coordination planning and control of trajectories for robot manipulators

This paper presents a unified approach to coordination planning and control of trajectories for robot manipulators. The generalized robot pose is defined as the robot configuration consisting of both its position and orientation. The unified treatment for the position and orientation of the end-effector is based on the robot pose ruled surface that is formed as a 3-D motion locus of its configuration vector. The coordination planning and control of pose trajectories is accomplished by generating and optimizing the pose ruled surface under the constraints of kinematics and dynamics performances, and controlling the motion laws of two end points of the orientation vector and calculating the coordinates of instantaneous corresponding points. The simulation of Puma 560 robot is given to verify the feasibility of the proposed approach and demonstrate the capabilities of generation and control models.