Joint configuration conservation and joint limit avoidance of redundant manipulators

Author

Zhou, Zhen-Lei ; Nguyen, C.C.

Author_Institution

Sch. of Eng., Catholic Univ. of America, Washington, DC, USA

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2421

Abstract

The state space augmentation method is employed in the trajectory planning of redundant manipulators, formulated as an optimal control problem which is solved by the application of the Pontryagin´s maximum principle. The developed method enables the manipulator to avoid singularities and joint limits and to conserve joint configuration in cyclic motion. The effectiveness of the method is studied by conducting computer simulation on a three degree-of-freedom manipulator performing planar motions

Keywords

manipulator kinematics; maximum principle; path planning; redundancy; state-space methods; 3-DOF manipulators; Pontryagin´s maximum principle; cyclic motion; forward kinematics; joint configuration conservation; joint limit avoidance; optimal control; redundant manipulators; state space; trajectory planning; Jacobian matrices; Kinematics; Manipulators; Optimal control; Orbital robotics; Performance analysis; Portable media players; Robot control; State-space methods; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.619324

Filename

619324