An Optimal Trajectory Planning for Redundant Robot Manipulators Based on Velocity Decomposition

속도분리를 이용한 여유자유도 로봇의 최적 경로계획

Linear motion and angular motion in task space are handled separately in joint velocity planning for redundant robot manipulators. In solving inverse kinematic equations with given joint velocity limits, we consider the order of priority for linear motion and angular motion. The proposed method will be useful in such applications where only linear motions are important than angular motions or vice versa.