NDLI: Real-time optimal trajectory planning for robotic manipulators with functional redundancy

Content Provider	IEEE Xplore Digital Library
Author	From, P.J. Gravdahl, J.T.
Copyright Year	2009
Description	Author affiliation: Department of Engineering Cybernetics, Norwegian University of Science and Technology, 7491 Trondheim, Norway (From, P.J.; Gravdahl, J.T.)
Abstract	In this paper we show that by allowing a small orientation error in the specifications of the end effector orientation for spray paint applications, both speed and performance can be substantially improved. In previous publications, we have shown how a continuous set of orientations can be represented as a positive definiteness test on a given matrix. This allows us to cast the problem into a convex optimisation problem where the optimal orientation for each time step is to be found. The orientation which allows the manipulator to follow a given path as fast as possible and with constant speed is considered the optimal orientation. In this paper we show how to solve this problem for every time step. The solution is computationally fast and can be implemented in real time. Numerical examples are presented to verify the efficiency of the approach.
Starting Page	1
Ending Page	7
File Size	223323
Page Count	7
File Format	PDF
ISBN	9781424435067
DOI	10.1109/ICIT.2009.4939528
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-02-10
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Robots Manipulators Paints Linear matrix inequalities End effectors Quaternions Spraying Testing Cost function
Content Type	Text
Resource Type	Article

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