Equivalence of Different-level Schemes for Repetitive Motion Planning of Redundant Robots

A repetitive-motion-planning (RMP) scheme at the acceleration-level of redundant robot manipulators is proposed, and its equivalence to the RMP scheme at velocity-level is discovered and investigated. Both theoretical analysis via neural-dynamic method and computer simulations performed on PUMA 560 robot manipulator demonstrate the efficacy of the proposed acceleration-level RMP scheme, and validate the equivalence of the RMP schemes at two different levels.