Premium
Online Verfahren zur Bahnplanung kinematisch redundanter Manipulatoren
Author(s) -
Schlemmer M.,
Hiller M.
Publication year - 2001
Publication title -
zamm ‐ journal of applied mathematics and mechanics / zeitschrift für angewandte mathematik und mechanik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.449
H-Index - 51
eISSN - 1521-4001
pISSN - 0044-2267
DOI - 10.1002/1521-4001(200103)81:3<175::aid-zamm175>3.0.co;2-h
Subject(s) - kinematics , inverse kinematics , redundancy (engineering) , path (computing) , motion planning , position (finance) , control theory (sociology) , computer science , robot , physics , artificial intelligence , control (management) , finance , classical mechanics , economics , programming language , operating system
In this article a method for online kinematic path planning of kinematically redundant manipulators is presented. Efficiency is acchieved by mapping the manipulator path planning problem to a path planning problem of the endeffector which has a smaller number of degrees of freedom. The method is based on an optimal solution procedure of the problem of Inverse Kinematics. With that feasible manipulator joint positions are generated in real‐time while the actual endeffector goal, i.e. the path, is commanded online. This can efficiently be handled by the concept of ‘Affine Manipulability’. The joint position path is feasible with regard to technical constraints like collision avoidance, joint limitations, and maximum joint velocities. Kinematic redundancy is resolved by means of an iterative optimization method, which is based on minimizing special costs like minimum energy and maximum manipulability. The validity of the presented method is verified by a kinematically redundant robot with ten degrees of freedom.