- Tytuł:
- Trajectory planning of the humanoid manipulator
- Autorzy:
-
Kacprzak, C.
Pająk, G. - Powiązania:
- https://bibliotekanauki.pl/articles/266170.pdf
- Data publikacji:
- 2019
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
manipulator
redundancja
unikanie kolizji
humanoid manipulator
redundancy resolution
collision avoidance
manipulability measure - Opis:
- The paper presents a method of planning a collision-free trajectory for a humanoid manipulator mounted on a rail system. The task of the robot is to move its end-effectors from the current position to the given final location in the workspace. The method is based on a redundancy resolution at the velocity level. In addition to this primary task, secondary objectives are also taken into account. The motion of the robot is planned in order to maximize a manipulability measure in purpose of avoiding manipulator singularities. State inequality constraints resulting from collision avoidance conditions are also considered. A computer example involving a humanoid manipulator operating in a three dimensional task space is also presented.
- Źródło:
-
International Journal of Applied Mechanics and Engineering; 2019, 24, 3; 591-602
1734-4492
2353-9003 - Pojawia się w:
- International Journal of Applied Mechanics and Engineering
- Dostawca treści:
- Biblioteka Nauki