Title :
A fast approach for the path planning of telerobotic manipulators
Author :
Mayorga, R.V. ; Ma, K.S. ; Wong, A.K.C. ; Ressa, B.
Author_Institution :
Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
Abstract :
A fast procedure for the robust path planning of telerobotic manipulators is presented. The approach is based on solving a linear system of equations taking into account a null space vector for obstacle avoidance, and an original scheme for the appropriate perturbation of the pseudoinverse matrix. This method allows the simultaneous pursuit of both obstacle avoidance and singularities prevention on-line in a sensor based environment
Keywords :
manipulators; matrix algebra; path planning; telecontrol; null space vector; obstacle avoidance; path planning; pseudoinverse matrix; sensor based environment; singularities prevention; telerobotic manipulators; End effectors; Kinematics; Manipulators; Master-slave; Null space; Orbital robotics; Path planning; Robustness; Telerobotics; Vectors;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292160
