A Method for Selecting Redundant Solutions of 7-DOF Manipulator based on Time Optimality

The time-optimal robot motion planning refers to the robot's end-effector reaching the designated position in the shortest time, which has a wide range of applications. In this paper, taking the 7-DOF (degrees of freedom) robot as the research object and the rectangular acceleration curve as the trajectory planning scheme of the robot, a method for calculating the angle of seven joints in the sense of optimal time is proposed. In this paper, the solution set (each set of solutions is composed of 7 angles) is obtained by means of the arm angle parameterization method, and then the motion time of each solution is determined, finally the solution in the sense of the optimal time of the manipulator is obtained.