Pseudoinverse-based Motion Planning Scheme for Robot Manipulators with Joint Physical Limits

The approach with the pseudoinverse-based (P-based) formulation is the classic and widely-used one for the motion planning of robot manipulators. However, it is difficult to simultaneously and directly deal with joint physical limits in the approach formulation. This paper attempts address such a limitation by providing the first P-based motion planning (PMP) scheme that can readily handle joint physical limits. Specifically, the motion planning of physically-constrained robot manipulators is formulated as solving a linear kinematics system with bound constraint. By utilizing an exponential decay rule, a neurodynamic model is obtained to solve the above system. Such a model is discretized via Euler difference formula, and the new PMP scheme at velocity level is thus proposed for robot manipulators with joint physical limits. Comparative simulation results under the PUMA560 robot manipulator further verify the effective and superior performance of the proposed PMP scheme.