Abstract
This paper presents a general methodology and accompanying formulation for planning kinematically smooth path trajectories for serial robot manipulators. Starting from an initial point on the path, it is required to traverse a path trajectory without halting the motion (typically due to switch from one inverse solution to another). The problem focuses on determining a starting configuration at the initial point on the path. The problem is formulated in terms of a constraint function and characterized by a system of differential-algebraic equations (DAEs) of index 2. These DAEs are solved numerically by Runge-Kutta (RK) methods while a best starting configuration is chosen using a cost-function driven optimization method. The formulation is demonstrated through a planar 3 degree of freedom robot manipulator.
Original language | English |
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Pages | 1065-1073 |
Number of pages | 9 |
DOIs | |
State | Published - 2002 |
Event | 27th Biennial Mechanisms and Robotics Conference - Montreal, Que., Canada Duration: Sep 29 2002 → Oct 2 2002 |
Conference
Conference | 27th Biennial Mechanisms and Robotics Conference |
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Country/Territory | Canada |
City | Montreal, Que. |
Period | 09/29/02 → 10/2/02 |
Keywords
- Differential-algebraic equations
- Kinematically smooth
- Path
- Planning
- Trajectories