Abstract
We propose a method of minimum-energy collision-free trajectory planning for a redundant manipulator utilizing the B-spline function and a mathematical programming method. We use the B-spline function for determining the approximate trajectory of a joint angle of each manipulator and the expressions of the outlines of obstacles. We maximize a performance index in order to choose the most dexterous posture of the manipulators. The approximate trajectory is then improved by minimizing another performance index expressing driving energy in consideration of the dynamics of redundant manipulator. According to the simultaneous consideration of driving energy, collision-free and dexterity, it is shown that the proposed method is efficient and practical for the trajectory planning.
| Original language | English |
|---|---|
| Pages (from-to) | 2030-2036 |
| Number of pages | 7 |
| Journal | Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 63 |
| Issue number | 610 |
| Publication status | Published - 1997 Jun |
| Externally published | Yes |
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ASJC Scopus subject areas
- Mechanical Engineering
Cite this
Study on minimum-energy collision-free trajectory planning for rigid manipulators. / Lee, Seung Je; Yamakawa, Hiroshi.
In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 63, No. 610, 06.1997, p. 2030-2036.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Study on minimum-energy collision-free trajectory planning for rigid manipulators
AU - Lee, Seung Je
AU - Yamakawa, Hiroshi
PY - 1997/6
Y1 - 1997/6
N2 - We propose a method of minimum-energy collision-free trajectory planning for a redundant manipulator utilizing the B-spline function and a mathematical programming method. We use the B-spline function for determining the approximate trajectory of a joint angle of each manipulator and the expressions of the outlines of obstacles. We maximize a performance index in order to choose the most dexterous posture of the manipulators. The approximate trajectory is then improved by minimizing another performance index expressing driving energy in consideration of the dynamics of redundant manipulator. According to the simultaneous consideration of driving energy, collision-free and dexterity, it is shown that the proposed method is efficient and practical for the trajectory planning.
AB - We propose a method of minimum-energy collision-free trajectory planning for a redundant manipulator utilizing the B-spline function and a mathematical programming method. We use the B-spline function for determining the approximate trajectory of a joint angle of each manipulator and the expressions of the outlines of obstacles. We maximize a performance index in order to choose the most dexterous posture of the manipulators. The approximate trajectory is then improved by minimizing another performance index expressing driving energy in consideration of the dynamics of redundant manipulator. According to the simultaneous consideration of driving energy, collision-free and dexterity, it is shown that the proposed method is efficient and practical for the trajectory planning.
UR - http://www.scopus.com/inward/record.url?scp=0031164584&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0031164584&partnerID=8YFLogxK
M3 - Article
VL - 63
SP - 2030
EP - 2036
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 610
ER -