Title :
The planning of suboptimal collision-free robotic motions
Author :
Pajak, Iwona ; Galicki, Miroslaw
Author_Institution :
Dept. of Syst. Manage., Tech. Univ. of Zielona Gora, Poland
Abstract :
A method of planning sub-optimal collision-free motion for redundant manipulators is presented. It is based on using a penalty function approach and scaling the robot dynamic equation to satisfy actuator constraints. The proposed method allows real time computations. A computer example involving a planar redundant manipulator of three revolute kinematics pairs which operates in a work space with obstacles, is also presented
Keywords :
acceleration control; manipulator dynamics; manipulator kinematics; path planning; suboptimal control; actuator constraints; penalty function approach; planar redundant manipulator; revolute kinematics pairs; robot dynamic equation; scaling; suboptimal collision-free robotic motions; Actuators; Collision avoidance; Convergence; Electrostatics; Kinematics; Manipulator dynamics; Motion control; Motion planning; Orbital robotics; Robot motion;
Conference_Titel :
Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on
Conference_Location :
Kiekrz
Print_ISBN :
0-7803-5655-1
DOI :
10.1109/ROMOCO.1999.791080
