Path planning research and simulation of planar 3R redundant robot

Author

Li, Dongjie ; Wang, Huanling ; You, Bo

Author_Institution

Coll. of Autom., Harbin Univ. of Sci. & Technol., Harbin

fYear

2009

fDate

25-27 May 2009

Firstpage

2855

Lastpage

2858

Abstract

Taking planar 3R redundant robot as study object, the obstacle avoidance of redundant robot path planning method is researched. The appropriate obstacle avoidance potential function is constructed with the calculation method of obstacles to links improved and the obstacle avoidance constraints simplified. Based on the resolved motion rate control (RMRC), the redundant robot inverse kinematics is resolved and the path planning is realized. The efficiency of this method is proved by the simulation of robot tracking different trajectory and avoiding static and dynamic obstacles in the work space.

Keywords

collision avoidance; manipulator kinematics; motion control; redundant manipulators; obstacle avoidance; path planning; planar 3R redundant robot; resolved motion rate control; robot inverse kinematics; Educational institutions; End effectors; Equations; Jacobian matrices; Motion control; Orbital robotics; Path planning; Robot kinematics; Robotics and automation; Trajectory; RMRC; obstacle avoidance potential function; path planning; redundant robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on

Conference_Location

Xi´an

Print_ISBN

978-1-4244-2799-4

Electronic_ISBN

978-1-4244-2800-7

Type

conf

DOI

10.1109/ICIEA.2009.5138730

Filename

5138730