Multi-objective Trajectory Optimization of Redundant Manipulator for Patient Assistance

A trajectory planning algorithm of a seven-degree-of-freedom manipulator based on a high-order non-uniform rational B-spline curve(NURBS) is described in this paper. Based on inverse kinematics analysis of the manipulator, multi-objective optimization is carried out in terms of overall time consumption, energy consumption, and motion stability. Firstly, the high-order continuous curve with specifi...