Oriented maximum velocity evaluation in serial robots using translational and rotational decomposition

Abstract

The reachable velocity of a serial robot within its workspace is crucial for planning complex robotic tasks. Traditional methods often struggle to accurately assess the maximum reachable velocity of both redundant and nonredundant serial robots in directions involving coupled translational and rotational motion. This paper proposes a method for evaluating the maximum oriented velocity of serial robots. The approach separates the motion into pure translational and pure rotational components. It converts the summation of joint velocities that satisfy only translational and rotational velocity constraints into an objective function. Consequently, solving the robot’s maximum oriented velocity is transformed into a numerical optimization problem using linear programming. The proposed method is applicable to both nonredundant and redundant serial robots. A comparative experiment demonstrates that the proposed method exhibits high accuracy. Especially in the redundant serial robots, the proposed method has an average error of 0.67%, while the existing decomposed twist feasibility method has an average error of 12.56%.