Joint trajectory optimization using all solutions of inverse kinematics of general 6-R robots

Abstract

Based on a paper [1] that introduced an algorithm which allows to transform all solutions of the inverse kinematics of a general 6-R robot into continuous joint trajectories we present in this paper methods to use the continuous joint trajectories for path optimization. For this purpose the motion is discretized and at each instant the inverse kinematic is computed using a fast algorithm developed in [2, 3]. In the set of resulting joint angles continuous paths are determined and the resulting sets of points are interpolated with quintic splines. Different possibilities for trajectory optimization are discussed.