Sub-optimal trajectory planning of the redundant manipulators

• Autorzy: Pająk G. , Pająk I.
• Języki publikacji: EN

Abstrakty

EN

The paper presents a method of planning a sub-optimal trajectory for a redundant manipulator subject to control constraints. The method is based on using the penalty function approach and scaling the robot dynamic equations to satisfy actuator constraints and allows real time computations. A computer example involving a spatial redundant manipulator of four revolute kinematics pairs is also presented.

Słowa kluczowe

EN

redundant manipulator; suboptimal trajectory; penalty functions

PL

manipulator redundantny; robot przemysłowy

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2009
• Tom: Vol. 14, no 1
• Strony: 251--260
• Opis fizyczny: Bibliogr. 11 poz., wykr.

Twórcy

autor

Pająk G.

autor

Pająk I.

• University of Zielona Góra Institute of Computer Science and Production Management Licealna 9, 65-417 Zielona Góra, POLAND,

Bibliografia

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• Liegeois A. (1977): Automatic supervisory control of the configuration and behaviour of multybody mechanisms - IEEE Trans. SMC, vol. 7, No.12, pp.868-871.
• Nakamura Y., Hanafusa H. and Yoshikawa T. (1987): Task-priority based redundancy control of robot manipulators - Intern. J. Robotics Research, vol.6, No.2, pp.3-15.
• Pająk G. and Galicki M. (2000): Collision-free trajectory planning of the redundant manipulators - Proc. Methods and Models in Automation and Robotics, vol.2, pp.605-610.
• Pająk I. and Galicki M. (1999): The planning of suboptimal collision-free robotic motions -Proc. Robot Motion and Control, pp.229-243.