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
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;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642001
