An efficient local approach for the path generation of robot manipulators

DOI10.1002/ROB.4620070103MaRDI QIDQ3034889zbMATH OpenOpenAlexFDO

Authors

Publication date 1990

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620070103

zbMATH Keywords

closed form solutionefficient local approachglobal informationpath generation of robot manipulatorssimple nonlinear programming problemsingularities avoidance constraint

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Generalized coordinates; event, impulse-energy, configuration, state, or phase space for problems in mechanics (70G10) Control of mechanical systems (70Q05) Model systems in control theory (93C99)

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Cites work

• A global approach for the optimal path generation of redundant robot manipulators
• Manipulator Cartesian Path Control
• Repeatability of redundant manipulators: mathematical solution of the problem

Cited in

(4)

• A global approach for the optimal path generation of redundant robot manipulators
• Procedure for manipulator inverse kinematics computation and proper pseudoinverse perturbation
• A fast procedure for manipulator inverse kinematics computation and singularities prevention
• A fast approach for the robust trajectory planning of redunant robot manipulators

Describes a project that uses

Uses Software

• Maple

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