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1 International Journal of Applied Mechanics and Engineering

1 2012

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

Pająk G., Pająk I.

International Journal of Applied Mechanics and Engineering

2012

Vol. 17, no. 4

1223-1235

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.