Trajectory Planning of a PRR Redundant Serial Manipulator for Surface Finishing Operations on Plane

Technological advances in recent history allow usage of robot manipulators in every aspects of manufacturing. Integration of robot manipulators into the machining operations not only increases the quality of the end products but also decreases the time required for their machining operations. In terms of delicacy in these operations, robotic grinding can be given as one of the most important applications of the field. Thus this study focuses on the trajectory planning problem of a PRR planar serial redundant manipulator that is proposed to be utilized for surface finishing. Throughout the study kinematic representation of PRR manipulator was given in detail and its kinematic analysis was carried out along with the direct and inverse tasks. After the kinematic equations were obtained, a desired end effector trajectory was given in order to simulate real surface finishing application on a plane. Required joint position functions were taken as polynomial functions. In the light of this, coefficients of the polynomials were solved to approximate the desired trajectory. At the end of the study comparisons between the desired and generated trajectories were plotted graphically.