Joint trajectory generation for redundant robots
@article{Hsia1989JointTG,
title={Joint trajectory generation for redundant robots},
author={Tien C. Hsia and Z. Y. Guo},
journal={Proceedings, 1989 International Conference on Robotics and Automation},
year={1989},
pages={277-282 vol.1},
url={https://api.semanticscholar.org/CorpusID:29409306}
}A joint-trajectory-generation scheme for redundant robots is proposed which uses the redundancy to improve motion performance according to certain objective functions and an approximation scheme is developed to compute the pseudoinverse of the Jacobian.
25 Citations
New inverse kinematic algorithms for redundant robots
- 1991
Engineering
In this article, the algorithms for generating the joint position and velocity (PV) trajectories are extensively developed and application of the algorithms to a four-link revolute planar robot manipulator is demonstrated through simulation.
Joint trajectory generation for redundant robots in an environment with obstacles
- 1990
Computer Science, Engineering
The problem of determining collision-free joint space trajectories for redundant robots is considered, and the command-generator approach is used to generate such trajectories. In this approach, a…
Control of redundant robots based on the motion optimizability measure
- 1994
Computer Science, Engineering
An analytical solution technique is derived for the inverse kinematics of a redundant robot that reduces the computational complexity and does not require the pseudoinverse Jacobian and an efficient, kinematic optimal control scheme is proposed.
Kinematic control of redundant robots and the motion optimizability measure
- 2001
Computer Science, Engineering
An analytical solution for the inverse kinematics is derived that provides a means for accommodating joint velocity constraints in real time and the motion optimizability measure is defined and used to develop an efficient method for the optimization of joint trajectories subject to multiple criteria.
Real-time control of redundant robots subject to multiple criteria
- 1998
Engineering
An optimal solution technique is derived for the inverse kinematics of a redundant robot that achieves real-time control with multiple performance criteria and an efficient method for kinematic control is proposed.
Collision Avoidance in Multiple-Redundant Manipulators
- 1997
Engineering
A new objective function is introduced to solve the under- specified inverse-kinematic problem of multiple-redundant manipulators, and the proper selection of a set of configuration control points is vitally important in the application of MXDC.
An Adaptive Inverse Kinematics Algorithm for Robot Manipulators
- 1990
Computer Science, Engineering
An adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented, derived using Model Reference Adaptive Control (MRAC) theory, and is computationally efficient for on-line applications.
Simulation of robust dynamic controller for redundant manipulators
- 1991
Engineering
The robustness of dynamic control for redundant manipulators is investigated. A robust controller based on Lyapunov's stability analysis is derived. Asymptotic tracking of the end effector in…
Simulation of nr robots
- 2009
Engineering
Modelling and simulation of n-DOF robots with revolute joints are presented and the dynamic model based on Lagrangian equation is developed, representing the basis of the software package "Robotic Toolbox" implemented in Matlab.
A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms
- 2016
Engineering
The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives.
15 References
A solution algorithm to the inverse kinematic problem for redundant manipulators
- 1988
Computer Science, Engineering
Based on a recently proposed algorithmic solution technique, the inverse kinematic problem for redundant manipulators is solved. The kinematics of the manipulator is appropriately augmented to…
A joint-space command generator for Cartesian control of robotic manipulators
- 1988
Engineering
A command generator is presented in the form of a nonlinear feedback system that has the advantage of being related to a linear system that can be used to compute precise bounds on the performance of the nonlinear system.
Redundant robot control for higher flexibility
- 1987
Engineering
A control scheme is presented to improve the flexibility of redundant robots by utilizing a proper utilization of redundancy and the feasibility and effectiveness of this control scheme are demonstrated through simulation.
An efficient gradient projection optimization scheme for a seven-degree-of-freedom redundant robot with spherical wrist
- 1988
Engineering
A computationally effective kinematic control scheme is presented for a seven-degree-of-freedom redundant robot with spherical wrist. This scheme uses a gradient projection optimization method, which…
Subtask performance by redundancy resolution for redundant robot manipulators
- 1988
Engineering, Computer Science
The problem of selecting joint space trajectories for redundant manipulators is considered and an algorithm to accomplish this, by means of conditions on a scalar function of the joint variables, is introduced and analyzed.
A command generator for 6 D-o-F robotic manipulators
- 1987
Computer Science, Engineering
A command generator that accepts position and orientation trajectories in Cartesian space and produces position, velocity, and acceleration trajectory in joint space is presented and the scheme to 6 degree of freedom manipulators is demonstrated through simulation results for a spherical-wrist robot.
Robust independent robot joint control: design and experimentation
- 1988
Engineering, Computer Science
An approach is presented for the design of simple robust independent joint controllers which result in linear decoupled joint motions by means of a very simple procedure, which allows simple PD control to be used.
A new method for the solution of the inverse kinematics of redundant robots
- 1988
Engineering
An algorithm for the solution of the inverse kinematic problem of the redundant robots is presented and gives the null space solution with a computational cost comparable to that of the pseudoinverse solution.
Review of pseudoinverse control for use with kinematically redundant manipulators
- 1983
Engineering
Kinematically redundant manipulators have a number of potential advantages over current manipulator designs and velocity control through pseudoinverses is suggested for this type of arm.
A discrete-time robotic command generator
- 1988
Engineering, Computer Science
A novel technique is presented that achieves an accurate solution with only one function evaluation per input point to solve the nonlinear differential equation at a discrete set of points.