A geometrical motion planning approach for redundant planar manipulators
Document Type
Article
Publication Date
1-1-2009
Abstract
Efficient control of industrial robots is an important factor in the success of industrial automation. Motion planning of robot manipulators is one of the challenging problems encountered in this field. This paper proposes a method for the motion planning of the redundant planar manipulators. The main idea is to find a smooth path consisting of points close enough to each other and geometrically compute their inverse kinematics. The proposed method will generate a single solution. Which makes the problem of finding one solution among the infinite solutions caused by redundancy is avoided. To demonstrate the effectiveness of the proposed method, this paper considers a 5-links redundant manipulator, the results are very promising.
Keywords
Manipulators-kinematics, Motion-planning, Redundancy
Divisions
fac_eng
Publication Title
Australian Journal of Basic and Applied Sciences
Volume
3
Issue
4
Publisher
American-Eurasian Network for Scientific Information, Jordan