Rj. Schilling et al., PATH TRACKING WITH THE LINKS OF A PLANAR HYPER-REDUNDANT ROBOTIC MANIPULATOR, Journal of robotic systems, 12(3), 1995, pp. 189-197
Citations number
31
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Application, Chemistry & Engineering","Robotics & Automatic Control
A technique for path tracking with the links of a planar hyper-redunda
nt robotic manipulator is presented. It is a joint-space trajectory pl
anning method that can be used for obstacle avoidance by ensuring that
the links of the manipulator closely follow a collision-free path pla
nned for the tool. A closed-form formulation of resolved-motion rate c
ontrol equations is developed that decomposes the manipulator into pro
ximal and distal parts. The joint velocities are constrained to ensure
that the far distal links remain tangent to the tool path, while the
near distal links and the proximal links assume a compressed configura
tion near the base. Path tracking is illustrated with several examples
that examine the effects of controller gain, link length, and number
of links. (C) 1995 John Wiley & Sons, Inc.