A global approach to path planning for redundant manipulators

Author

Seereeram, Sanjeev ; Wen, John T.

Author_Institution

Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA

Volume

11

Issue

1

fYear

1995

fDate

2/1/1995 12:00:00 AM

Firstpage

152

Lastpage

160

Abstract

This paper presents a new approach to path planning for redundant manipulators. The path planning problem is posed as a finite time nonlinear control problem which can be solved by a Newton-Raphson type algorithm together with an exterior penalty function method. This technique is capable of handling various goal task definitions as well as incorporating both joint and task space constraints. The algorithm has shown promising results in planning joint path sequences to meet Cartesian goal planning and path following. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima. Applications to planar 3R and 4R arms, cooperating 3R arms and a spatial 9 DOF arm are included

Keywords

Newton-Raphson method; manipulators; nonlinear control systems; path planning; redundancy; sequences; Cartesian goal planning; Newton-Raphson type algorithm; cooperating 3R arms; exterior penalty function method; finite time nonlinear control; global approach; goal task definitions; joint path sequences; joint space constraints; path planning; planar 3R arms; planar 4R arms; redundant manipulators; spatial 9 DOF arm; task space constraints; Arm; Intelligent robots; Intelligent systems; Jacobian matrices; Manipulators; Meeting planning; Optimization methods; Path planning; Robot kinematics; Spatial resolution;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.345948

Filename

345948