DocumentCode
2098791
Title
Manipulability optimization for trajectory generation
Author
Guilamo, Luis ; Kuffner, James ; Nishiwaki, Koichi ; Kagami, Satoshi
Author_Institution
Digital Human Res. Center, Nat. Inst. of Adv. Ind. Sci. & Technol., Tokyo
fYear
2006
fDate
15-19 May 2006
Firstpage
2017
Lastpage
2022
Abstract
In this paper, we present an algorithm for manipulability based trajectory generation for any serial manipulator that has an inverse kinematic model that can obtain all solutions. Our strategy is a search based approach that analyzes candidate configurations at discrete points along the work-space trajectory. Given such a model we prove the configuration-space trajectories generated are optimal within the limit of the discretization of the work-space trajectory
Keywords
force control; manipulator kinematics; path planning; position control; inverse kinematic model; manipulability optimization; serial manipulator; trajectory generation; work-space trajectory; Force measurement; Human robot interaction; Humanoid robots; Kinematics; Manipulators; Navigation; Optimization methods; Robotics and automation; Service robots; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1642001
Filename
1642001
Link To Document