Planning of sub-optimal collision-free trajectory for redundant manipulators

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

Abstrakty

EN

A method of planning sub-optimal trajectory for a redundant manipulator working in the environment including obstacles is presented. The robot's task is to move the tool from a given initial to final position in the workspace. The motion of the manipulator is planned in order to minimize a manipulability measure for the purpose of avoiding manipulator singularities. The method is based on using the penalty function approach and a redundancy resolution at the acceleration level. The collision avoidance is accomplished by locally perturbing the manipulator motion in the neighborhoods of the obstacles. The proposed method allows real time computations. A computer example involving 4 DOF PUMA-like manipulator operating in three dimensional task space is also presented.

Słowa kluczowe

EN

redundant manipulator; suboptimal trajectory; collision avoidance

PL

manipulator redundantny; trajektoria; kolizja; funkcje kary

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2012
• Tom: Vol. 17, no. 4
• Strony: 1223--1235
• Opis fizyczny: Bibliogr. 23 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,

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