A fast approach for the robust trajectory planning of redunant robot manipulators

DOI10.1002/ROB.4620120205MaRDI QIDQ4698199zbMATHOpenAlexFDO

Authors Rene V. Mayorga, Farrokh Janabi-Sharifi, Andrew K. C. Wong

Publication date 7 November 1996

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

Full work available at URL https://doi.org/10.1002/rob.4620120205

zbMATH Keywords

inverse kinematic problemlocal minima in potential fieldMoore-Penrose matrix

Mathematics Subject Classification ID

Numerical solutions to overdetermined systems, pseudoinverses (65F20) Kinematics of mechanisms and robots (70B15) Multistep, Runge-Kutta and extrapolation methods for ordinary differential equations (65L06) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

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Cites work

• A fast procedure for manipulator inverse kinematics computation and singularities prevention
• A global approach for the optimal path generation of redundant robot manipulators
• An efficient local approach for the path generation of robot manipulators
• Automatic generation of forward and inverse kinematics for a reconfigurable modular manipulator system
• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
• Joint trajectory generation for redundant robots in an environment with obstacles
• Manipulator Cartesian Path Control
• Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods
• The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds

Cited in

(9)

• Optimal path and trajectory planning for serial robots. Inverse kinematics for redundant robots and fast solution of parametric problems
• scientific article; zbMATH DE number 1161218 (Why is no real title available?)
• scientific article; zbMATH DE number 1517151 (Why is no real title available?)
• A method for online kinematic path planning of kinematically redundant manipulators
• Singularly perturbed feedback linearization with linear attitude deviation dynamics realization
• Research on path planning method of spatial redundant manipulator
• Real-time velocity alteration strategy for collision-free trajectory planning of two articulated robot manipulators
• A new method for smooth trajectory planning of robot manipulators
• scientific article; zbMATH DE number 4135433 (Why is no real title available?)

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