Open AccessDynamic optimization for the trajectory planning of robot manipulators in the presence of obstacles
Author(s) -
Sezimária de Fátima Pereira Saramago,
Valder Steffen Júnior
Publication year - 1999
Publication title -
revista brasileira de ciências mecânicas
Language(s) - English
Resource type - Journals
ISSN - 0100-7386
DOI - 10.1590/s0100-73861999000300001
Subject(s) - obstacle , cartesian coordinate system , control theory (sociology) , motion planning , trajectory , robot , obstacle avoidance , path (computing) , manipulator (device) , computer science , actuator , function (biology) , snake arm robot , simple (philosophy) , mathematics , robot kinematics , mobile robot , artificial intelligence , physics , control (management) , geometry , programming language , astronomy , evolutionary biology , political science , law , biology , philosophy , epistemology
This paper presents an approach to the solution of moving a robot manipulator with minimum cost along a specified geometric path in the presence of obstacles. The main idea is to express obstacle avoidance in terms of the distances between potentially colliding parts. The optimal traveling time and the minimum mechanical energy of the actuators are considered together to build a multiobjective function. A simple numerical example involving a Cartesian manipulator arm with two-degree-of-freedom is described