次优无碰撞机器人运动规划

Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI:10.1109/ROMOCO.1999.791080

I. Pająk, M. Galicki

{"title":"次优无碰撞机器人运动规划","authors":"I. Pająk, M. Galicki","doi":"10.1109/ROMOCO.1999.791080","DOIUrl":null,"url":null,"abstract":"A method of planning sub-optimal collision-free motion for redundant manipulators is presented. It is based on using a penalty function approach and scaling the robot dynamic equation to satisfy actuator constraints. The proposed method allows real time computations. A computer example involving a planar redundant manipulator of three revolute kinematics pairs which operates in a work space with obstacles, is also presented.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"The planning of suboptimal collision-free robotic motions\",\"authors\":\"I. Pająk, M. Galicki\",\"doi\":\"10.1109/ROMOCO.1999.791080\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A method of planning sub-optimal collision-free motion for redundant manipulators is presented. It is based on using a penalty function approach and scaling the robot dynamic equation to satisfy actuator constraints. The proposed method allows real time computations. A computer example involving a planar redundant manipulator of three revolute kinematics pairs which operates in a work space with obstacles, is also presented.\",\"PeriodicalId\":131049,\"journal\":{\"name\":\"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)\",\"volume\":\"14 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROMOCO.1999.791080\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMOCO.1999.791080","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 12

摘要

提出了一种冗余机械手次优无碰撞运动规划方法。该方法基于罚函数方法，并对机器人动力学方程进行缩放以满足执行器约束。该方法允许实时计算。给出了在有障碍物的工作空间中工作的平面冗余三转动副机械臂的计算机算例。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

The planning of suboptimal collision-free robotic motions

A method of planning sub-optimal collision-free motion for redundant manipulators is presented. It is based on using a penalty function approach and scaling the robot dynamic equation to satisfy actuator constraints. The proposed method allows real time computations. A computer example involving a planar redundant manipulator of three revolute kinematics pairs which operates in a work space with obstacles, is also presented.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)

自引率

0.00%

发文量