NDLI: A global approach to path planning for redundant manipulators

Content Provider	IEEE Xplore Digital Library
Author	Seereeram, S. Wen, J.T.
Copyright Year	1989
Abstract	This paper presents a new approach to path planning for redundant manipulators. The path planning problem is posed as a finite time nonlinear control problem which can be solved by a Newton-Raphson type algorithm together with an exterior penalty function method. This technique is capable of handling various goal task definitions as well as incorporating both joint and task space constraints. The algorithm has shown promising results in planning joint path sequences to meet Cartesian goal planning and path following. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima. Applications to planar 3R and 4R arms, cooperating 3R arms and a spatial 9 DOF arm are included.<>
Starting Page	152
Ending Page	160
Page Count	9
File Size	914634
File Format	PDF
ISSN	1042296X
Volume Number	11
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-02-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Arm Manipulators Robot kinematics Jacobian matrices Meeting planning Intelligent robots Optimization methods Spatial resolution Intelligent systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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