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

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

研究成果: Article同行評審

3 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)491-503
頁數13
期刊International Journal of Systems Science
30
發行號5
DOIs
出版狀態Published - 1999 一月 1

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 理論電腦科學
  • 電腦科學應用

指紋

深入研究「Path planning and dynamic control of a redundant robot manipulator for conveyor tracking」主題。共同形成了獨特的指紋。

引用此