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Motion Planning of Redundant Manipulators for Specified Trajectory Tasks

  • J. Alfonso Pámanes G.
  • Philippe Wenger
  • José Luis Zapata D.
Chapter

Abstract

A new approach is proposed in this paper for the motion planning of redundant manipulators in cluttered environments to accomplish specified trajectory tasks. The method is based on the use of feasibility maps, which identifies all the joint trajectories allowing the manipulator’s end-effector to travel through the desired path. The procedure synthesizes a set of joint trajectories satisfying the feasibility conditions, even if singular configurations are necessary to achieve the task. The effectiveness of the method is illustrated in the motion planning of a planar 3-degree-of-freedom (dof) manipulator.

Keywords

Redundant manipulators feasibility motion planning joint trajectories singularities. 

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Copyright information

© Springer Science+Business Media Dordrecht 2002

Authors and Affiliations

  • J. Alfonso Pámanes G.
    • 2
  • Philippe Wenger
    • 1
  • José Luis Zapata D.
    • 2
  1. 1.Ecole Centrale de NantesIRCCyNNantesFrance
  2. 2.Instituto Tecnológico de la LagunaTorreón, Coah.México

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