By Topic

An improved trajectory planner for redundant manipulators in constrained workspace

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Tzu-Chen Liang ; Inst. of Inf. Sci., Acad. Sinica, Taipei, Taiwan ; Liu, J.S.

This paper studies the trajectory planning of redundant robots performing tasks within enclosed workspace. Configuration control of kinematically redundant manipulators using pseudo-inverse with null-space projection method is a well-known scheme. A switching objective function is proposed. We modify Liegeois' (1997) joint angle availability objective function so that the midpoints of each joint are switched at a series of pre-specified key path points for the end-effector to achieve. These key path points are planned beforehand according to the geometry of constrained workspace. The trajectory planning problem can then be viewed as a series of proper postures determination problems at key path points. The proper postures are determined using a combination of potential field method and elastic model method, which take into account the joint operating ranges and motion tendency of end-effector. A variable weighting technique to achieve the proper postures effectively is also presented. Simulations of a planar 8-link robot in constrained workspace illustrate the effectiveness of this approach

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference: