基于任务的冗余机械手轨迹规划方法及其在轮椅推进中的应用

IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI:10.1109/RAMECH.2004.1438013

Hiroki Miura, G. Obinata, Atsushi Nakayama, K. Hase, M. Sasaki, T. Iwami, H. Doki

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引用次数: 7

摘要

提出了一种高效完成给定任务的冗余机械手轨迹规划优化方法，并将该方法应用于轮椅推进问题。采用遗传算法对机械臂的冗余变量进行优化。此外，该方法的计算过程中不需要进行任何前向动力学计算。将该方法应用于轮椅推进系统，验证了算法的有效性。

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Task based approach on trajectory planning with redundant manipulators, and its application to wheelchair propulsion

We introduce an optimization method for the trajectory planning of redundant manipulators which achieve a given task with high efficiency, and apply the method to a wheelchair propulsion problem. A GA is used to optimize the redundant variables of a manipulator. Additionally, the procedure of the method does not use any forward dynamics computation. The effectiveness of the proposed algorithm has been shown by applying the method to wheelchair propulsion.

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来源期刊

IEEE Conference on Robotics, Automation and Mechatronics, 2004.

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