Autor:
Kacprzak, C. ; Pająk, Grzegorz
Współtwórca:
Tytuł:
Trajectory planning of the humanoid manipulator
Tytuł publikacji grupowej:
Temat i słowa kluczowe:
humanoid manipulator ; redundancy resolution ; collision avoidance ; manipulability measure
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.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Data wydania:
Typ zasobu:
Format:
DOI:
Strony:
Źródło:
IJAME, volume 24, number 3 (2019)