An efficient local approach for the path generation of robot manipulators
作者:
R. V. Mayorga,
A. K. C. Wong,
K. S. Ma,
期刊:
Journal of Robotic Systems
(WILEY Available online 1990)
卷期:
Volume 7,
issue 1
页码: 23-55
ISSN:0741-2223
年代: 1990
DOI:10.1002/rob.4620070103
出版商: Wiley Subscription Services, Inc., A Wiley Company
数据来源: WILEY
摘要:
AbstractIn this article an efficient local approach for the path generation of robot manipulators is presented. The approach is based on formulating a simple nonlinear programming problem. This problem is considered as a minimization of energy with given robot kinematics and subject to the robot requirements and a singularities avoidance constraint. From this formulation a closed form solution is derived which has the properties that allows to pursue both singularities and obstacle avoidance simultaneously; and that it can incorporate global information. These properties enable the accomplishment of the important task that while a specified trajectory in the operational space can be closely followed, also a desired joint configuration can be attained accurately at a given time. Although the proposed approach is primarily developed for redundant manipulators, its application to nonredundant manipulators is examplified by considering a particular commercial manipulator.
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