Title :
Path planning research and simulation of planar 3R redundant robot
Author :
Li, Dongjie ; Wang, Huanling ; You, Bo
Author_Institution :
Coll. of Autom., Harbin Univ. of Sci. & Technol., Harbin
Abstract :
Taking planar 3R redundant robot as study object, the obstacle avoidance of redundant robot path planning method is researched. The appropriate obstacle avoidance potential function is constructed with the calculation method of obstacles to links improved and the obstacle avoidance constraints simplified. Based on the resolved motion rate control (RMRC), the redundant robot inverse kinematics is resolved and the path planning is realized. The efficiency of this method is proved by the simulation of robot tracking different trajectory and avoiding static and dynamic obstacles in the work space.
Keywords :
collision avoidance; manipulator kinematics; motion control; redundant manipulators; obstacle avoidance; path planning; planar 3R redundant robot; resolved motion rate control; robot inverse kinematics; Educational institutions; End effectors; Equations; Jacobian matrices; Motion control; Orbital robotics; Path planning; Robot kinematics; Robotics and automation; Trajectory; RMRC; obstacle avoidance potential function; path planning; redundant robot;
Conference_Titel :
Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-2799-4
Electronic_ISBN :
978-1-4244-2800-7
DOI :
10.1109/ICIEA.2009.5138730
