Tool path interpolation and redundancy optimization of manipulator

In this paper, tool path interpolation and redundancy optimization algorithms are designed for the industrial manipulator to perform tasks exhibiting 1-DoF redundancy such as the welding, cutting etc. B-spline is applied for the tool path interpolation and then by minimizing the energy consumption while avoiding singularity and respecting joint limits at the same time, the optimal trajectory can be obtained. The problem is formulated and solved by nonlinear optimization method. POE(Product of exponential) model is used for robotic kinematic and dynamic analysis to simplify the problem. Experiments were conducted to illustrate the feasibility of our method.