Kinematics and time optimal trajectory planning of a 10-DOF redundant manipulator

This paper presents an efficient kinematics analysis and time optimal trajectory planning for a 10-DOF redundant manipulator (called flexible in-vessel inspection robot, FIVIR), which aims at inspecting the state of the components in a full superconducting tokamak fusion experiment device with D-shape vacuum vessel (EAST). Kinematics analysis approach is based on the mechanical decoupling structure of the robot. On the forward kinematics, basic transformation matrix between two frames is inserted into the homogeneous transformation matrix of end-effector expressed by the D-H parameters. Through the decoupling of the operation task, the base frame is changed for the analysis of inverse kinematics. For the time optimal trajectory planning, optimization model not only be limited to the kinematics constraints traditionally, but also take task requirements into consideration. Related experiments were carried out to demonstrate the efficiency and feasibility of this method.