Lift-down trajectory generation for multi-joint robot based on repeatedly direct kinematics algorithm

This paper proposes repeatedly direct kinematics (RDK) algorithm to trajectory generation of a multi-joint robot in lift-down movements. For trajectory generation of the multi-joint robot, three constraints are considered. They are no turnover, the joint limits and the torque limits of the robot. Safety factor is set in order to ensure the stability of robot. The emphasis of the study is placed on using repeatedly direct kinematics (RDK) algorithm to search for trajectory. The method is evaluating each joint torque rate and then updating robot posture. Simulation results of various lift-down movements are satisfactory.