Title :
A novel variational approach for collision-free trajectory planning of robot manipulators
Author :
Zhu, Z.H. ; Mayorga, R.V. ; Wong, A.K.C.
Author_Institution :
Indal Technol. Inc., Mississauga, Ont., Canada
Abstract :
The objective of the paper is to establish a mathematical framework for the variational approach for collision free trajectory planning of a robot manipulator, examine it from an engineering perspective and demonstrate the importance of the dynamic characteristics. The framework is based on the energetic concept of an instantaneous energy balance of a dynamic system. Within the framework, different energy forms are defined for obstacle, environmental constraints and task requirements according to their functional characteristics. By applying Hamilton´s principle, the general differential control equations of the system are derived. The simulated results demonstrate the elegance and robustness of the current variational approach
Keywords :
collision avoidance; differential equations; manipulators; robust control; variational techniques; collision-free trajectory planning; differential control equations; dynamic characteristics; dynamic system; energy forms; engineering perspective; environmental constraints; functional characteristics; instantaneous energy balance; mathematical framework; robot manipulators; task requirements; variational approach; Design engineering; End effectors; Equations; Kinematics; Level control; Manipulator dynamics; Motion control; Orbital robotics; Service robots; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.811747