Joint Space Trajectory Planning of a Robot 3D Measurement System Based on the Paden-Kahan Subproblem

This paper addresses the joint space trajectory planning problem of a 3D measurement system consisting of a 6R robot and a 2D profile sensor, by proposing a fully Paden-Kahan subproblem-based method, which decomposes the inverse kinematics problem of the robot's product of exponentials (POE) kinematics model into multiple Paden-Kahan subproblem 1 and extends parallel problems of Paden-Kahan subproblem 2 for solution. The robot's work space is partitioned into eight states on the basis of the robot's joint configurations, and a state variable S is defined to describe these states. On the basis of the three-dimensional spatial position of the object under test, the starting position of the robot scanning is determined, and joint space coordinates are generated according to the required joint state quantity S. Finally, a joint trajectory is generated via polynomial interpolation.