Motion Planning of Redundant Manipulators for Specified Trajectory Tasks
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.
KeywordsRedundant manipulators feasibility motion planning joint trajectories singularities.
Unable to display preview. Download preview PDF.
- Baillieul J. (1986), Avoiding obstacles and resolving kinematic redundancy, Proceedings of the IEEE International Conference on Robotics and Automation.Google Scholar
- Borrel P. and Liegois A. (1986), A study of multiple manipulator inverse kinematic solution with applications to trajectory planning and workspace determination, Proceedings of the IEEE International Conference on Robotics and Automation.Google Scholar
- Latombe J.C. (1991), Robot Motion Planning. Kluwer Academic Publishers, Boston, MA.Google Scholar
- Maciejewski, A.A., and Klein C.A. (1985), Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments, International Journal of Robotics Research, no. 3, vol. 4, pp. 109–117.Google Scholar
- Pamanes G.J.A., Zeghloul S. (1995), On the task feasibility of non redundant manipulators, Proceedings of the 9th World Congress on the Theory of Machines and Mechanisms, Milan, Italy.Google Scholar
- Pamanes G.J.A., Barron L.A., and Pinedo C. (1999), Constrained optimization in redundancy resolution of robotic manipulators, Proceedings of the 10th World Congress on Theory of Machines and Mechanisms, Oulu, Finland.Google Scholar
- Wenger P., Chedmail P., and Reynier F. (1993), A global analysis of following trajectories by redundant manipulators in the presence of obstacles, Proceedings of the IEEE International Conference on Robotics and Automation.Google Scholar
- Wenger P., Chedmail P. (1991), Ability of a robot to travel through its free workspace in an environment with obstacles, The International Journal of Robotics Research, no. 3, vol. 10, pp. 214–227.Google Scholar
- Yoshikawa, T. (1984), Analysis and control of robot manipulators with redundancy, Robotics Research: The First International Symposium; M. Brady and R. Paul, Eds. Cambridge, MA. MIT Press.Google Scholar