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Joint trajectory generation for redundant robots in an environment with obstacles

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2 Author(s)
Guo, Z.Y. ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA ; Hsia, T.C.

The problem of determining collision-free joint space trajectories for redundant robots is considered, and the command-generator approach is used to generate such trajectories. In this approach, a distance objective function is defined and is optimized along the robot joint trajectories through a vector in a null space. Algorithms for implementing this optimization problem are fully developed. It is shown that the proposed collision-free trajectory generation scheme is efficient and practical. Extensive simulation results of a four-link robot example are presented and analyzed

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990