NDLI: A trajectory planning algorithm for redundant manipulators

Content Provider	IEEE Xplore Digital Library
Author	Duarte, F.B.M. Machado, J.A.T. Horvath, L.
Copyright Year	1999
Description	Author affiliation: Dept. Matematica, Esc. Sup. de Tecnologia de Viseu, Portugal (Duarte, F.B.M.)
Abstract	Redundant manipulators have some advantages when compared with classical arms because they allow trajectory optimization, both on the free space and on the presence of obstacles, and the resolution of singularities. For this type of manipulator, several kinematic control algorithms adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through several experiments that reveal the difficulties that often arise. Motivated by these problems this paper presents a new method, that optimizes the manipulability through a least square rational function approximation, to determine the joints positions and studies the chaos revealed by the kinematics trajectory planning scheme, as well as its influence on the dynamics, when controlling redundant and hyper-redundant manipulators. The experiments confirm the superior performance of the proposed algorithm, for redundant and hyper-redundant manipulators, revealing several properties and gives a deeper insight towards the future development of superior trajectory control algorithms.
Starting Page	1002
Ending Page	1007
File Size	353186
Page Count	6
File Format	PDF
ISBN	0780356624
DOI	10.1109/ISIE.1999.796759
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-07-12
Publisher Place	Slovenia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Manipulator dynamics Kinematics End effectors Arm Chaos Robots Jacobian matrices Information technology Testing
Content Type	Text
Resource Type	Article

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