Optimal Trajectory Generation for Manipulator with Strong Nonlinear Constraints and Multiple Boundary Conditions

Up to now, the research work about optimal trajectory generation mainly focuses on such motion planning with boundary conditions of specified initial and final configurations. Multiple boundary conditions are seldom taken into account. This paper explores the motion planning method for hyper dynamic manipulation with multiple boundary conditions of initial, final and middle configurations and strong nonlinear constraints derived from active torque limitation and joint stop, and B-spline based optimal torque trajectory generation method is proposed by authors. By transforming the torque limitation constraints into a series of linear limitations for the coefficients of B spline, and by using SQP optimization algorithm, optimal solutions are obtained with high convergence. Numerical experiments show the proposed method has superior numerical stability and high optimization accuracy in dealing with the optimal motion planning problem with strong nonlinear constraints and multiple boundary conditions.