scientific article; zbMATH DE number 15828
[For the entire collection see Zbl 0708.00019.] The paper pays a special attention to the following problem: given a trajectory of the end-effector, and a set of obstacles in the working space, find a joint space trajectory of the manipulator which minimizes a given performance index and satisfies all of the constraints. The performance index is to minimize the speed vector of the joint space. The problem was reduced to finding the null space component of the joint displacement vector which ensures satisfaction of all motion constraints. Three types of constraints are considered: joint limit constraints, singularity constraints and obstacle avoidance constraints. These constraints are then unified into a single constraint equation. An algorithm, which ensures satisfaction of the constraint by utilizing redundancy is proposed.
- A trajectory planning of redundant manipulators based on bilevel optimization
- An improved trajectory planner for redundant manipulators in constrained workspace
- Modelling and optimization approach for trajectory planning of three freedom planar manipulators
- Trajectory modeling of robot manipulators in the presence of obstacles
- Trajectory optimization for kinematically redundant arms
- On-line trajectory resolution for two-armed systems with conflicting performance criteria
- Real-time velocity alteration strategy for collision-free trajectory planning of two articulated robot manipulators
- Trajectory planning in workspaces with obstacles taking into account the dynamic robot behaviour
- An efficient local approach for the path generation of robot manipulators
- Planning of the trajectory for the tip of redundant robotic mechanisms in the presence of obstacles
- Trajectory optimization for kinematically redundant arms
- scientific article; zbMATH DE number 4135433 (Why is no real title available?)
- Trajectory Generation and Obstacle Avoidance
- An improved trajectory planner for redundant manipulators in constrained workspace
- Path planning and dynamic control of a redundant robot manipulator for conveyor tracking
- Evolving a multiobjective obstacle avoidance skill of a seven-link manipulator subject to constraints
- Modelling and optimization approach for trajectory planning of three freedom planar manipulators
- Manipulator joint trajectory regulation based on fuzzy reasoning
- Advances in Neural Networks – ISNN 2005
- Trajectory modeling of robot manipulators in the presence of obstacles
- Optimal Reachability with Obstacle Avoidance for Hyper-redundant and Soft Manipulators
- A trajectory planning of redundant manipulators based on bilevel optimization
This page was built for publication:
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q3972480)
