Path planning and dynamic control of a redundant robot manipulator for conveyor tracking

Chih Jer Lin, Cha’O Kuang Chen, Chieh Li Chen

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)

Abstract

A redundant robot for specific application to conveyor tracking and obstacle avoidance is considered in this paper. This paper also presents an optimal path planning approach to minimize the cost of moving a redundant robot manipulator along a specified geometric path subject to angular velocity constraints. A sliding controller is introduced to improve performance. The proposed path planning approach using the forward kinematics and the perturbation method can be applied to solve the motion-planning problem with task priority requirements, such as obstacle avoidance. As opposed to the conventional approach, the Jacobian matrix is not used in the proposed method. The solution is obtained according to the design objective using an optimization procedure.

Original languageEnglish
Pages (from-to)491-503
Number of pages13
JournalInternational Journal of Systems Science
Volume30
Issue number5
DOIs
Publication statusPublished - 1999 Jan 1

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Theoretical Computer Science
  • Computer Science Applications

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