A novel method for computing self-motion manifolds

Tong Wu, Jing Zhao, Biyun Xie

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


For kinematically redundant robots, self-motion manifolds that represent all the inverse kinematic solutions for a given end-effector location play a significant role in global motion planning. However, the efficient computation of self-motion manifolds, especially the computation of high-dimensional manifolds, is still a problem that needs to be solved. In this paper, the grid elements modeling criteria are formulated, and the specific modeling method of a grid element in the configuration space is developed. Based on the idea of cellular automata, the problem of computing self-motion manifolds is transformed into a dynamic model searching problem, and an evolution strategy is proposed to realize the efficient computation of self-motion manifolds. Finally, two examples are used to verify the effectiveness of the proposed method in computing high-dimensional self-motion manifolds. The results show that compared to the conventional methods, the proposed method can correctly identify all the self-motion manifolds with 94% reduced computational time on average.

Original languageEnglish
Article number105121
JournalMechanism and Machine Theory
StatePublished - Jan 2023

Bibliographical note

Publisher Copyright:
© 2022 Elsevier Ltd


  • Kinematics
  • Motion and path planning
  • Redundant robots
  • Self-motion manifolds

ASJC Scopus subject areas

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications


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