Conference proceeding
Planning for Kinematically Smooth Manipulator Trajectories
Volume 5: 27th Biennial Mechanisms and Robotics Conference, Vol.5, pp.1065-1073
ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, Quebec, Canada, Sept. 29 - Oct. 02, 2002
01/01/2002
DOI: 10.1115/DETC2002/MECH-34325
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.
Details
- Title: Subtitle
- Planning for Kinematically Smooth Manipulator Trajectories
- Creators
- Zan Mi - University of IowaJingzhou Yang - University of IowaKarim Abdel-Malek - University of IowaLaurent Jay - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- Volume 5: 27th Biennial Mechanisms and Robotics Conference, Vol.5, pp.1065-1073
- Conference
- ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, Quebec, Canada, Sept. 29 - Oct. 02, 2002
- DOI
- 10.1115/DETC2002/MECH-34325
- Publisher
- ASMEDC
- Language
- English
- Date published
- 01/01/2002
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mathematics; Mechanical Engineering
- Record Identifier
- 9984196619702771
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