Kacprzak, C. ; Pająk, Grzegorz
Contributor: Title:Trajectory planning of the humanoid manipulator
Group publication title: Subject and Keywords: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.
Publisher:Zielona Góra: Uniwersytet Zielonogórski
Date: Resource Type: Format: DOI: Pages: Source:IJAME, volume 24, number 3 (2019)
Language: License: License CC BY-NC-ND 4.0: Rights: