Title :
Joint trajectory generation for redundant robots
Author :
Hsia, T.C. ; Guo, Z.Y.
Abstract :
A joint-trajectory-generation scheme for redundant robots is proposed which uses the redundancy to improve motion performance according to certain objective functions. The objective function can be either analytical or nonanalytical. For nonanalytical objective functions, a least-squares scheme is proposed to estimate the gradient vector. In addition, an approximation scheme is developed to compute the pseudoinverse of the Jacobian. Application of the scheme to a 4-link revolute planar robot manipulator is demonstrated through simulation. Several motion performance criteria are considered and their results analyzed
Keywords :
inverse problems; kinematics; least squares approximations; position control; redundancy; robots; 4-link revolute planar robot manipulator; Jacobian; approximation scheme; inverse kinematics; joint-trajectory-generation scheme; least-squares scheme; motion performance criteria; nonanalytical objective functions; pseudoinverse; redundant robots; Arm; Computational modeling; Feedback; Jacobian matrices; Least squares approximation; Manipulators; Orbital robotics; Redundancy; Robot kinematics; Vectors;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100001
