scholarly journals 1P1-Q01 Motion Planning with Hand Path Partitioning on Fast Path Tracking Constant Hand-Speed Motion using Redundant Manipulator(New Control Theory and Motion Control (1))

2014 ◽  
Vol 2014 (0) ◽  
pp. _1P1-Q01_1-_1P1-Q01_4
Author(s):  
Kousuke OKABE ◽  
Yasumichi AIYAMA
Keyword(s):  
Control Theory ◽  
Motion Planning ◽  
Motion Control ◽  
Path Tracking ◽  
Redundant Manipulator ◽  
Hand Path

Fast Motion of Path Tracking Task with Constant Hand Speed Using Redundant Manipulator

2015 ◽  
Vol 27 (1) ◽  
pp. 74-82 ◽  
Author(s):  
Kousuke Okabe ◽  
◽  
Yasumichi Aiyama
Keyword(s):  
Motion Planning ◽  
State Space ◽  
Path Tracking ◽  
Tracking Task ◽  
Joint Torque ◽  
Redundant Manipulator ◽  
Fast Motion ◽  
Joint Velocity ◽  
Driving Torque ◽  
Joint Acceleration

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/09.jpg"" width=""300"" />Limits and a motion in state space</div> We propose a motion planning method for accelerating path-tracking task with constant hand speed using redundant manipulator. Tracking-speed should be increased to satisfy the joint torque and joint velocity limits. We propose a method using the state space of redundant manipulators to analyze these limits and to operate motion planning. This state space has a position on a trajectory, redundant pose, and redundant velocity axes. These limits are projected on state space. We consider, motion planning is path-finding problem on state space at a constant hand speed. To plan a faster motion, a constant hand speed is examined by finding a path with limits in state space. We use computer simulation to test and evaluate our proposed method on 3-link planar manipulator. Results demonstrated motion faster than a motion minimizing joint acceleration norm and a motion minimizing driving torque norm. We also verified a problem when our method was applied to an actual manipulator. </span>

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