Zielonogórska Biblioteka Cyfrowa udostępnia 65 391 obiektów cyfrowych
Obiekt
Tytuł: Trajectory planning of the humanoid manipulator
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Abstract:
The paper presents a method of planning a collision-free trajectory for a humanoid manipulator mounted on a rail system. The task of the robot is to move its end-effectors from the current position to the given final location in the workspace. The method is based on a redundancy resolution at the velocity level. In addition to this primary task, secondary objectives are also taken into account. ; The motion of the robot is planned in order to maximize a manipulability measure in purpose of avoiding manipulator singularities. State inequality constraints resulting from collision avoidance conditions are also considered. A computer example involving a humanoid manipulator operating in a three dimensional task space is also presented.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
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Pages:
Source:
IJAME, volume 24, number 3 (2019)
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License:
License CC BY-NC-ND 4.0:
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Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Mechanical Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mechanics and Engineering (IJAME)
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mechanics and Engineering (IJAME) > International Journal of Applied Mechanics and Engineering (IJAME) (2019)
Data ostatniej modyfikacji:
Jul 6, 2023
Data dodania obiektu:
Mar 3, 2023
Liczba wyświetleń treści obiektu:
138
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/publication/78402
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| Nazwa wydania | Data |
|---|---|
| Trajectory planning of the humanoid manipulator | Jul 6, 2023 |
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Galicki, Mirosław Pająk, Grzegorz Pająk, Iwona Kozłowski, Krzysztof - ed.
