DocumentCode :
2913684
Title :
An improved trajectory planner for redundant manipulators in constrained workspace
Author :
Liang, Tzu-Chen ; Liu, Jing-Sin
Author_Institution :
Inst. of Inf. Sci., Acad. Sinica, Taipei, Taiwan
Volume :
4
fYear :
1999
fDate :
1999
Firstpage :
3153
Abstract :
This paper studies the trajectory planning of redundant robots performing tasks within enclosed workspace. Configuration control of kinematically redundant manipulators using pseudo-inverse with null-space projection method is a well-known scheme. A switching objective function is proposed. We modify Liegeois´ (1997) joint angle availability objective function so that the midpoints of each joint are switched at a series of pre-specified key path points for the end-effector to achieve. These key path points are planned beforehand according to the geometry of constrained workspace. The trajectory planning problem can then be viewed as a series of proper postures determination problems at key path points. The proper postures are determined using a combination of potential field method and elastic model method, which take into account the joint operating ranges and motion tendency of end-effector. A variable weighting technique to achieve the proper postures effectively is also presented. Simulations of a planar 8-link robot in constrained workspace illustrate the effectiveness of this approach
Keywords :
motion control; path planning; redundant manipulators; velocity control; collision avoidance; constrained workspace; joint velocity; null-space projection; path planning; potential field method; redundant manipulators; switching objective function; trajectory planning; variable weighting technique; Equations; Information science; Jacobian matrices; Kinematics; Manipulators; Motion planning; Redundancy; Robots; Torque; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
ISSN :
1050-4729
Print_ISBN :
0-7803-5180-0
Type :
conf
DOI :
10.1109/ROBOT.1999.774078
Filename :
774078
Link To Document :
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