Title :
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
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;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619324
