Soft Motion Trajectory for Planar Redundant Manipulator

Trajectory planning of redundant manipulator is a very active area since many tasks are requiring special characteristics to be satisfied. The importance of redundant manipulators has been increased for the last two decades because of the possibility to avoid singularities as well as obstacles within the course of motion. A soft motion planning for redundant planar manipulators is introduced in this paper. This soft trajectory will reduce the jerk and increase the controllability of the task especially if the end-effector carries a liquid object. The torque required for each joint to perform a specific task has been simulated. Also, a comparison between the soft trajectory and the normal linear segment with parabolic blends (LSPB) trajectory has been carried out