Path Planning of Redundant Manipulator and Determination of its Configuration of Bending Elastic Plate Spring

1995 ◽  
pp. 113-118
Author(s):  
R. Katoh ◽  
T. Fujimoto ◽  
T. Yamashita
Keyword(s):  
Path Planning ◽  
Elastic Plate ◽  
Redundant Manipulator ◽  
Plate Spring

A Novel Path Planning Method Based on Regional Index Algorithm for Hyper-redundant Manipulator

2021 ◽  
pp. 669-679
Author(s):  
Longfei Jia ◽  
Yaxing Guo ◽  
Yunfei Tao ◽  
He Cai ◽  
Tianhua Fu ◽  
...  
Keyword(s):  
Path Planning ◽  
Planning Method ◽  
Redundant Manipulator ◽  
Regional Index

Inverse Kinematics of Serial Redundant Manipulators With Locked Articulations

1995 ◽  
Author(s):  
Louis Perreault ◽  
Clément M. Gosselin
Keyword(s):  
Inverse Kinematics ◽  
General Procedure ◽  
Inverse Kinematic ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Inverse Kinematic Problem

Abstract This paper presents an algorithm for the solution of the inverse kinematics of a serial redundant manipulator with one (or more) locked joint(s). To this end, a general procedure is developed for the determination of the equivalent Denavit-Hartenberg parameters of a serial manipulator with locked joints. This procedure can be applied to any serial architecture. The solution of the inverse kinematic problem for the three cases which can arise is then addressed. An example of the application of the method to a SARCOS 7-DOF manipulator is also given.

Study on Mechanical Mechanics with a Method for Minimum-Time Path Planning of Robots in Cartesian Space

2013 ◽  
Vol 703 ◽  
pp. 181-185 ◽  
Author(s):  
Xiang Rong Xu ◽  
Dong Qing Shi ◽  
Man Lu ◽  
Hao Xu ◽  
Tao Zhou
Keyword(s):  
Path Planning ◽  
Minimum Time ◽  
Motion Path ◽  
Robot Motion ◽  
Time Interval ◽  
Cartesian Coordinates ◽  
Motion Trajectories ◽  
Time Path ◽  
Cartesian Space

This paper presents an approach for robot motion path planning in Cartesian space. The motion trajectories are specified by a group of parameter equations in Cartesian coordinates. The time interval [0, is divided into m segments, and the coefficients of polynomial at each segment can be obtained in recursive form. The problem of minimum-time path planning and the determination of m are also studied.

Sign in / Sign up

Export Citation Format

Share Document