Kinematic Coupling Planning Method for Position and Attitude of Manipulator

In this paper, we introduce a novel coupling motion planning method that addresses the end position and orientation of a manipulator. Through the central point mapping algorithm, the distance from the end effector to the central point is proportionally mapped to the end effector's orientation, thereby determining the manipulator's end position and attitude through normalization. This approach enhances the flexibility and precision of multi-degree-of-freedom manipulators by examining the coupling dynamics inherent in their structural design. Specifically, this study delineates two constraint methods: fixed attitude and attitude variation with position. The efficacy of this method is confirmed through simulation experiments. The outcomes demonstrate that, with optimal selection of proportional parameters, the manipulator's joint deflection angles are minimized, and motion control is optimized. Furthermore, the simulations illustrate the motion traj ectory and dynamic behavior of the manipulator's end effector under various parameter settings, offering valuable insights for the manipulator's design and control strategy development.