• DocumentCode
    3073185
  • Title

    Kinematic control and obstacle avoidance for redundant manipulators

  • Author

    Chassiakos, A. ; Christodoulou, M.A.

  • Author_Institution
    University of Southern California, CA, USA
  • fYear
    1986
  • fDate
    10-12 Dec. 1986
  • Firstpage
    96
  • Lastpage
    97
  • Abstract
    This paper considers the problem of steering a redundant manipulator from an initial to a final position in the work space (Cartesian space). An optimal control approach is employed, to avoid obstacles in the work space and simultaneously avoid the kinematically singular configurations throughout the trajectory.
  • Keywords
    Computer science; End effectors; Equations; Jacobian matrices; Manipulators; Null space; Optimal control; Orbital robotics; Robot kinematics; Space technology;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1986 25th IEEE Conference on
  • Conference_Location
    Athens, Greece
  • Type

    conf

  • DOI
    10.1109/CDC.1986.267161
  • Filename
    4048713
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3073185