A prototype adjuster for motion planning of redundant robots

Abstract:
Planning the movement of redundant robots requires the application of easy-to-use tools that automatically sup-port the process of planning motion paths combined with their complex parameterisation. This paper describes the con-structed device which is used to control such robots. The device, in the form of a glove, is designed to record movement and generate trajectories made by the hands. It contains a miniature motion controller and software with a unique set of functionalities that allow generating G2 type reference motion paths with the offset trajectories enabling noise reduc-tion, eliminating the hand tremor, and also allowing connection with CAM software. The concept is based on the use of fifth-order spline curves in the software that meet the Hodograph condition. Trajectory data can be recorded, saved, or used in real time to control robots. Originally, the solution was dedicated to controlling surgical robots, but its capabili-ties were tested on industrial robots using simulators.