Development of Bresenham-Based Step Compensation Algorithm for Manipulator Trajectory Planning

The trajectory planning of the manipulator end is somehow sensitive to the manipulator movement. To avoid accumulative error, the step compensation optimization method based on Bresenham algorithm is developed to overcome such an adverse effect. First, the Bresenham algorithm is applied using the manipulator modeling from Denavit-Hartenberg (D-H) parameters. The calculation process can be therefore simplified using the point interpolation method. Second, the step compensation optimization is combined with Bresenham algorithm to reduce abrupt speed changing and vibration effect, particularly at the starting or ending period during arm joint movement. The performance results verify that the manipulator can move smoothly and follow up the predefined straight-line trajectory accurately.