Title :
Task based approach on trajectory planning with redundant manipulators, and its application to wheelchair propulsion
Author :
Miura, Hiroki ; Obinata, Goro ; Nakayama, Atsushi ; Hase, Kazunori ; Sasaki, Makoto ; Iwami, Takehiro ; Doki, Hitoshi
Author_Institution :
Dept. of Mech. Eng., Nagoya Univ., Japan
Abstract :
We introduce an optimization method for the trajectory planning of redundant manipulators which achieve a given task with high efficiency, and apply the method to a wheelchair propulsion problem. A GA is used to optimize the redundant variables of a manipulator. Additionally, the procedure of the method does not use any forward dynamics computation. The effectiveness of the proposed algorithm has been shown by applying the method to wheelchair propulsion.
Keywords :
genetic algorithms; propulsion; redundant manipulators; vehicles; optimization method; redundant manipulators; redundant variables; task based approach; trajectory planning; wheelchair propulsion problem; Jacobian matrices; Manipulator dynamics; Mechanical engineering; Mobile robots; Optimization methods; Propulsion; Robot kinematics; Trajectory; Vehicle dynamics; Wheelchairs;
Conference_Titel :
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN :
0-7803-8645-0
DOI :
10.1109/RAMECH.2004.1438013
