Motion planning of a redundant manipulator for the purpose of speed-up of the hands constant speed tasks

In this paper, we propose the motion planning of redundant manipulators for speeding-up the hand constant speed tasks. The hand trajectory is given from vector function and its time-differentials. We consider the configuration-space that represent the distance on the hand trajectory and redundancy of the redundant manipulator. The redundancy is hand orientation, redundant angle velocity and redundant angle acceleration. We project torque limits to the configuration-space. We assume prohibited-area that areas exceed the torque limits. We plan the motion on the configuration-space avoiding the prohibited-areas on one hand constant speed for operating within the torque limits. If we can find the motion within the torque limits, we change the hand constant speed to high-speed one. We repeat the motion planning and changing the hand constant speed until cannot find the motion in order to derive fastest and constant hand speed motion. In this paper, we explain the method to derive the prohibited-area, and the algorithm of motion planning on the configuration-space. After that, we show the effectiveness of proposal method by showing joint torques simulation. The simulations compute by the Lagrange´s equation and the Open Dynamics Engine.