Joint-angle-drift remedy of three-link planar robot arm performing different types of end-effector trajectories

In this paper, the quadratic-programming (QP) based scheme-formulation is employed to handle the joint-angle-drift problem of a redundant three-link planar robot arm with its end-effector moving along different types of trajectories (e.g., a Lissajous-figure path, a triangular path and an elliptical path). The physical constraints such as joint limits and joint velocity limits are considered as well. A series of computer-simulations are conducted, which demonstrate the effectiveness of such a scheme-formulation and its neural-network solver on motion planning.