Object
Title: Trajectory planning of the humanoid manipulator
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Group publication title:
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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DOI:
Pages:
Source:
IJAME, volume 24, number 3 (2019)
Language:
License:
License CC BY-NC-ND 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- 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)
Last modified:
Jul 6, 2023
In our library since:
Mar 3, 2023
Number of object content hits:
81
All available object's versions:
https://zbc.uz.zgora.pl/publication/78402
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International Journal of Applied Mechanics and Engineering (IJAME)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 29 (2024)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 28 (2023)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 27 (2022)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 26 (2021)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 25 (2020)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 24 (2019)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 24, number 1 (2019)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 24, number 2 (2019)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 24, number 3 (2019)
- International Journal of Applied Mechanics and Engineering (IJAME), volume 24, number 3 (2019) - Contents
- Role of brownian motion and thermophoresis effects on hydromagnetic flow of nanofluid over a nonlinearly stretching sheet with slip effects and solar radiation
- Failure analysis of laminated composite plate under hygro-thermo mechanical load and optimisation
- Simultaneous chemical reactions effect on dispersion of a solute in peristaltic propulsion of a newtonian fluid in an inclined channel with wall properties
- Electrically conducting flow through exponential power law fluid with variable thermal conductivity
- The characterization of the stress fields near a crack tip for a compact specimen for elastic-plastic materials dominated by the plane strain state
- MHD slip flow past an extending surface with third type boundary condition and thermal radiation effects
- Trajectory planning of the humanoid manipulator
- Phase-lag effects in skin tissue during transient heating
- Generation of surface waves due to initial axisymmetric surface disturbance in water with a porous bottom
- The effect of slip velocity on unsteady peristalsis MHD blood flow through a constricted artery experiencing body acceleration
- On propagation of rayleigh type surface wave in five different theories of thermoelasticity
- Radiation absorption and chemical reaction effects on rivlin-ericksen flow past a vertical moving porous plate
- Plane waves in thermo-viscoelastic material with voids under different theories of thermoelasticity
- Unsteady three-dimensional MHD nanofluid flow over a stretching sheet with variable wall thickness and slip effects
- Thermal radiation, chemical reaction, viscous and joule dissipation effects on MHD flow embedded in a porous medium
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International Journal of Applied Mechanics and Engineering (IJAME), volume 24, number 4 (2019)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 24, number 1 (2019)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 23 (2018)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 22 (2017)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 21 (2016)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 20 (2015)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 19 (2014)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 18 (2013)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 29 (2024)
| Edition name | Date |
|---|---|
| Trajectory planning of the humanoid manipulator | Jul 6, 2023 |
