Collision-free 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 collision-free trajectory for a redundant manipulator. The path of the end-effector is defined as a curve that can be parameterized by any scaling parameter. The method is based on penalty function approach and a redundancy resolution at the acceleration level. Constraints connected with the existence of mechanical limits for manipulator configuration and control constraints have been considered. The motion of the manipulator is planned in order to minimize a manipulability measure for the purpose of avoiding manipulator singularities. A computer example involving 4 a DOF PUMA-like manipulator operating in a three dimensional task space is also presented.

Słowa kluczowe

EN

redundant manipulator; suboptimal trajectory; collision avoidance; penalty functions

PL

niepełna trajektoria; unikanie kolizji; funkcje kary

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2010
• Tom: Vol. 15, no 3
• Strony: 799--810
• Opis fizyczny: Bibliogr. 21 poz., rys., 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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