General motion planning method for manipulators with no impact

This paper proposes a general motion planning method for manipulators on the basis of polynomial interpolation. The impact suffered by manipulators during movement can be eliminated by using this method. And this reduces vibration of manipulators largely. In order to overcome the difficulties in realizing the algorithm, a method of quadratic interpolation is proposed. With the method, the computation amount of motion planning is reduced, while the result is still with no impact. The motion planning experiments driving the manipulator´s end effector to run a three-dimensional arc are carried out with a self-developed 6-DOF manipulator system. Through the experiments, it is verified that the motion planning method proposed is feasible and has good effects.