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RoManSy 9 pp 61–71Cite as

Finding collision-free trajectory for redundant manipulator by local information available

  • Part 1 Mechanics 1
  • Conference paper
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 187))

Abstract

In the paper, a method of collision-free trajectory planning in unknown environment for redundant manipulator is proposed. In order to employ it, local information available from the proximity sensors attached to the manipulator links is required. To reduce the number of computations involved, the planning process is carried out in the robot work space. Due to the use of gradient systems, the method proposed seems to be applicable to an on-line mode.

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References

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  6. Galicki M., Method of planning tasks of redundant manipulators in work space including obstacles (with conultations by A. Morecki), Zielona Góra, 1989, Monographs.

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Author information

Authors and Affiliations

  1. Higher College of Engineering, Zielona Góra Warsaw University of Technology, Warsaw

    Mirosław Galicki & Adam Morecki

Authors
  1. Mirosław Galicki
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  2. Adam Morecki
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Editor information

A. Morecki G. Bianchi K. Jaworek

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© 1993 Springer-Verlag London Limited

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Galicki, M., Morecki, A. (1993). Finding collision-free trajectory for redundant manipulator by local information available. In: Morecki, A., Bianchi, G., Jaworek, K. (eds) RoManSy 9. Lecture Notes in Control and Information Sciences, vol 187. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0031432

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  • DOI: https://doi.org/10.1007/BFb0031432

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19834-5

  • Online ISBN: 978-3-540-39315-3

  • eBook Packages: Springer Book Archive

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