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AN OPTIMAL PATH PLANNING OF THE MANIPULATORS WITH GLOBE JOINT BASED ON SWIFT ALGORITHM

An optimal path planning method for 9 DOF redundant manipulators with globe joints is presented in the paper, which based on the SWIFT (sequential weight increasing factor technique) algorithm and restricted revolute joint angle. When the initial position and the pose of the goal is determinated, the algorithm is able to find the optimal path, which enables the sum of all joint re volute angle to be minimal. And the r k is discussed, which accelerates the algorithm convergence. The algorithm possesses fewer reiterative times and faster convergence. The feasibility and the validity of the algorithm are validated by the optimal outcomes and the simulation results of the 9 DOF manipulators in 3D space.