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.
Zielona Góra: Uniwersytet Zielonogórski
IJAME, volume 24, number 3 (2019)
Biblioteka Uniwersytetu Zielonogórskiego
Jul 6, 2023
Mar 3, 2023
54
https://zbc.uz.zgora.pl/publication/78402
Edition name | Date |
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Trajectory planning of the humanoid manipulator | Jul 6, 2023 |
Szłapczyński, Rafał Szłapczyńska, Joanna Cordón, Oskar - ed. Kazienko, Przemysław - ed.
Pająk, Grzegorz Jurczak, Paweł - red.
Galicki, Mirosław Pająk, Grzegorz Pająk, Iwona Kozłowski, Krzysztof - ed.