Motion planning of redundant robots

Chieh-Li Chen, Chih Jer Lin

研究成果: Article同行評審

13 引文 斯高帕斯(Scopus)

摘要

Motion planning of robot manipulators is one of the most challenging problems encountered in the field of robotics. This article concentrates on those problems that require geometrical singularity and task priority. An alternative to the conventional approach is proposed, using a forward kinematics and optimization technique. The solution can be obtained corresponding to the design objective using an optimization procedure. The robustness of the proposed method to geometrical singularity is demonstrated. The concept of the permissible region is proposed for the motion planning problem with obstacle avoidance. Illustrated examples are also given.

原文English
頁(從 - 到)839-850
頁數12
期刊Journal of Robotic Systems
14
發行號12
DOIs
出版狀態Published - 1997 1月 1

All Science Journal Classification (ASJC) codes

  • 控制與系統工程

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