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Abstrakty
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.
Rocznik
Tom
Strony
1223--1235
Opis fizyczny
Bibliogr. 23 poz., wykr.
Twórcy
autor
autor
- University of Zielona Góra Institute of Computer Science and Production Management Licealna 9, 65-417 Zielona Góra, POLAND, g.pajak@iizp.uz.zgora.pl
Bibliografia
- Armstrong B., Khatib O. and Burdick J. (1986): The explicit dynamic model and inertial parameters of the Puma 560 arm. - Proc. Intern. Conf. Robotics and Automat., pp.510-518.
- Choset H., Lynch K.M., Hutchinson S., Kantor G.A., Burgard W., Kavraki L.E. and Thrun S. (2005): Principles of Robot Motion: Theory, Algorithms, and Implementations. - Cambridge: MIT Press.
- Corke P.I. (1999): Robotics Toolbox (release 5). - CSIRO, Australia.
- Feder H.J. and Slotine J.J.E. (1997): Real-time path planning using harmonic-potential in dynamic environments. - Proc. Intern. Conf. Robotics and Automat., pp.874-881.
- Galicki M. (1992): Optimal planning of collision-free trajectory of redundant manipulators. - The Intern. J. Robotics Research, vol.11, No.6, pp.549-559.
- Galicki M. (1993): Robot task planning. In: Morecki A., Knapczyk J. (eds.) Basics of robotics: theory and components of manipulators and robots. (in Polish) - Warsaw: WNT Publisher.
- Galicki M. (2000): The selected methods of manipulators' optimal trajectory planning. (in Polish) - Warsaw: WNT Publisher.
- Galicki M. (2003): Inverse kinematics solution to mobile manipulators. - The Intern. J. Robotics Research, vol.22, No.12, pp.1041-1064.
- Galicki M. (2005): Control-based solution to inverse kinematics for mobile manipulators using penalty functions. - J. Intell. Robotics Systems, vol.42, No.3, pp.213-238.
- Glass K. and Colbaugh R. (1995): Real-time collision avoidance for redundant manipulators. - IEEE Trans. Robotics Automat., vol.11, No.3, pp.448-457.
- Guldner J., Utkin V.I. and Hashimoto H. (1997): Robot obstacle avoidance in n-dimensional space using planar harmonic artificial potential fields. - Trans. of the ASME, vol.119, pp.160-166.
- Horsch T, Schwarz F. and Tolle H. (1994): Motion planning for many degrees of freedom-random reflections at C-space obstacles. - Proc. Intern. Conf. Robotics and Automat., pp.3318-3323.
- Hsu D., Latombe J.C. and Mowani R. (1997): Path planning in expensive configuration spaces. - Proc. Intern. Conf. Robotics and Automat., pp.2719-2726.
- Khatib O. (1986): Real-time obstacle avoidance for manipulators and mobile robots. - Intern. J. Robotics Research, vol.5, No.1, pp.90-98.
- Kim I.O. and Khosla P. (1992): Real-time obstacle avoidance in n-dimensional space using planar harmonic artificial potential fields. - IEEE Trans. Robotics Automat., vol.8, No.2, pp.338-349.
- Kircanski M. and Kircanski N. (1997): Resolved-rate and resolved-acceleration-based robot control in the presence of actuators' constraints. - Proc. Intern. Conf. Robotics and Automat., pp.235-240.
- Latombe J.C. (1991): Robot Motion Planning. - Dordrecht: Kluwer Academic Publishers.
- LaValle S.M. (2006): Planning Algorithms. - Cambridge: Cambridge University Press.
- Pająk I. and Galicki M. (1999): The planning of sub-optimal collision-free robotic motions. - Proc. of the First Workshop RoMoCo, pp.141-146.
- Pająk G. and Pająk I. (2010): Collision-free sub-optimal trajectory planning of the redundant manipulators. - Journal of Applied Mechanics and Engineering, vol.15, No.3, pp.799-810.
- Platonov A.K. and Karpov I.I. (1974): The method of potentials to path planning. - Print IPM Academy of Sciences of VSSR, No.124.
- Rimon E. and Koditscheck E. (1992): Exact robot navigation using artificial potential functions. - IEEE Trans. Robotics Automat., vol.8, No5, pp.501-518.
- Singh L., Wen J. and Stephanou (1997): Motion planning and dynamic control of a linked manipulator using modified magnetic fields. - Proc. Intern. Conf. Robotics and Automat., pp.1142-1147.
Typ dokumentu
Bibliografia
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bwmeta1.element.baztech-article-BPZ5-0028-0009