NDLI: A singularities avoidance method for the trajectory planning of redundant and nonredundant robot manipulators

Content Provider	IEEE Xplore Digital Library
Author	Mayorga, R. Wong, A.
Copyright Year	1987
Description	Author affiliation: University of Waterloo, Waterloo, Ontario, Canada (Mayorga, R.)
Abstract	In this paper, a singularities avoidance method suitable for the trajectory planning of redundant and nonredundant robot manipulators is presented. This method is based on establishing proper bounds for the rate of change of the Jacobian matrix of the transformation between the joints speed and end effector Cartesian speed These bounds are computationally inexpensive and easy to deal with by their conversion into additional constraints for any optimization problem which may be formulated to obtain the local or global optimal control of the robot manipulator. Here, this approach is exemplified for the trajectory planning problem of a particular type of redundant and nonredundant robot manipulators studied under an optimal control problem formulation. For each case, this problem is treated as a minimum energy problem with given kinematics and dynamics and subject to the robot requirements, tasks, and the additional singularities avoidance constraints; resulting in a state constrained continuous optimal control which is solved numerically.
Starting Page	1707
Ending Page	1712
File Size	635525
Page Count	6
File Format	PDF
DOI	10.1109/ROBOT.1987.1087803
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1987-03-01
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Robot kinematics Optimal control Orbital robotics Jacobian matrices End effectors Manipulator dynamics Path planning Constraint optimization Robot control
Content Type	Text
Resource Type	Article

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