Investigation on the Discretization of a Repetitive Path Planning Scheme for Redundant Robot Manipulators

Repetitive path planning (RPP) plays an important role in the operation of redundant robot manipulators. In this study, we investigate a new discrete-time RPP scheme depicted in the pseudoinverse-type formulation for redundant robot manipulators. Such a scheme is derived from the discretization of the previous continuous-time RPP scheme using a special numerical difference formula. Theoretical analysis shows that the proposed RPP scheme has the property of cube pattern in the end-effector planning accuracy. On the basis of a PUMA560 robot manipulator with different examples, comparative simulation results are presented to demonstrate the effectiveness and superiority of the proposed RPP scheme.