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4 International Journal of Applied Mechanics and Engineering

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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.

Planning of a collision-free trajectory for multiple manipulators

Pająk G., Pająk I.

International Journal of Applied Mechanics and Engineering

2011

Vol. 16, no 2

475-486

In this paper, a global method is presented in order to solve the task of trajectories generation for multiple manipulators operating in the common workspace including moving obstacles. The task of manipulators is to follow by their end effectors the geometric paths given in a task space. The dynamics of the manipulators is taken into consideration. The constraints imposed on controls and state inequality constraints resulting from collision avoidance of a moving obstacle with manipulator links are considered. A final time of the task performance is not fixed. This task is solved based on the calculus of variations. A computer example involving two planar redundant manipulators of three revolute kinematic pairs is presented.

Collision-free sub-optimal trajectory planning of the redundant manipulators

Pająk G., Pająk I.

International Journal of Applied Mechanics and Engineering

2010

Vol. 15, no 3

799-810

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.

Sub-optimal trajectory planning of the redundant manipulators

Pająk G., Pająk I.

International Journal of Applied Mechanics and Engineering

2009

Vol. 14, no 1

251-260

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.