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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Jong Hwa Won Byoung Wook Choi Myung Jin Chung |
| Copyright Year | 1991 |
| Description | Author affiliation: Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea (Jong Hwa Won; Byoung Wook Choi; Myung Jin Chung) |
| Abstract | This paper proposes a numerical method of motion planning and task allocation for a manipulator in the frequency domain. For a redundant manipulator, the trajectories of redundant joints are predetermined in terms of the Nth partial sum of the Fourier series. Then the optimal coefficients of the Fourier series are determined by the Powell's method and an approximate optimal solution is obtained from these coefficients. For a nonredundant manipulator, a task can be allocated to a better location in the workspace based on the frequency response. To show the validity of the proposed method, the authors apply the method to a redundant and a nonredundant case with a 3-link planar manipulator and a PUMA 560, respectively. They analyze the solutions by the fast Fourier transform.< |
| Starting Page | 1024 |
| Ending Page | 1028 |
| File Size | 367026 |
| Page Count | 5 |
| File Format | |
| ISBN | 0780300785 |
| DOI | 10.1109/ICAR.1991.240537 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1991-06-19 |
| Publisher Place | Italy |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Frequency domain analysis Optimization methods Fourier series Differential equations Frequency response Fast Fourier transforms Kinematics Boundary conditions |
| Content Type | Text |
| Resource Type | Article |
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