A new method for motion planning of redundant manipulators using singular configurations

2004 ◽  
Author(s):  
G.J.A. Pamanes ◽  
D.J.L. Zapata
Keyword(s):  
Motion Planning ◽  
New Method ◽  
Redundant Manipulators ◽  
Singular Configurations

Grasp Motion Planning with Redundant DOF of Grasping Pose

2013 ◽  
Vol 25 (3) ◽  
pp. 538-544 ◽  
Author(s):  
Kazuyuki Nagase ◽  
◽  
Yasumichi Aiyama
Keyword(s):  
Motion Planning ◽  
Collision Avoidance ◽  
Target Object ◽  
Degree Of Freedom ◽  
New Method ◽  
Redundant Manipulators ◽  
Grasp Planning

In this paper, we propose a new method of grasp planning for a manipulator with a parallel jaw gripper in obstacle environment. We consider collision avoidance as a problem of motion planning in obstacle environments. In general, however, a redundant degree of freedom (DOF) is required to avoid obstacle and to grasp. In our proposal, we pay attention to redundant DOF in a grasping pose. Using redundant DOF in a grasping pose, a manipulator can avoid obstacles and grasp a target object. It does not require any redundant manipulators.

Gradient Optimization of Inverse Dynamics for Robotic Manipulator Motion Planning Using Combined Optimal Control

2017 ◽  
Author(s):  
Shangdong Gong ◽  
Redwan Alqasemi ◽  
Rajiv Dubey
Keyword(s):  
Optimal Control ◽  
Motion Planning ◽  
Inverse Dynamics ◽  
Null Space ◽  
Optimal Solution ◽  
Human Motion ◽  
Optimization Techniques ◽  
Redundant Manipulators ◽  
Robot Arm ◽  
Gradient Optimization

Motion planning of redundant manipulators is an active and widely studied area of research. The inverse kinematics problem can be solved using various optimization methods within the null space to avoid joint limits, obstacle constraints, as well as minimize the velocity or maximize the manipulability measure. However, the relation between the torques of the joints and their respective positions can complicate inverse dynamics of redundant systems. It also makes it challenging to optimize cost functions, such as total torque or kinematic energy. In addition, the functional gradient optimization techniques do not achieve an optimal solution for the goal configuration. We present a study on motion planning using optimal control as a pre-process to find optimal pose at the goal position based on the external forces and gravity compensation, and generate a trajectory with optimized torques using the gradient information of the torque function. As a result, we reach an optimal trajectory that can minimize the torque and takes dynamics into consideration. We demonstrate the motion planning for a planar 3-DOF redundant robotic arm and show the results of the optimized trajectory motion. In the simulation, the torque generated by an external force on the end-effector as well as by the motion of every link is made into an integral over the squared torque norm. This technique is expected to take the torque of every joint into consideration and generate better motion that maintains the torques or kinematic energy of the arm in the safe zone. In future work, the trajectories of the redundant manipulators will be optimized to generate more natural motion as in humanoid arm motion. Similar to the human motion strategy, the robot arm is expected to be able to lift weights held by hands, the configuration of the arm is changed along from the initial configuration to a goal configuration. Furthermore, along with weighted least norm (WLN) solutions, the optimization framework will be more adaptive to the dynamic environment. In this paper, we present the development of our methodology, a simulated test and discussion of the results.

scholarly journals A sampling-based optimized algorithm for task-constrained motion planning

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141984737 ◽  
Author(s):  
Kai Mi ◽  
Haojian Zhang ◽  
Jun Zheng ◽  
Jianhua Hu ◽  
Dengxiang Zhuang ◽  
...  
Keyword(s):  
Motion Planning ◽  
Sampling Methods ◽  
Tracking Error ◽  
Joint Space ◽  
Planning Problem ◽  
Redundant Manipulators ◽  
Task Space ◽  
Constrained Motion ◽  
Smooth Path ◽  
Planning Algorithm

We consider a motion planning problem with task space constraints in a complex environment for redundant manipulators. For this problem, we propose a motion planning algorithm that combines kinematics control with rapidly exploring random sampling methods. Meanwhile, we introduce an optimization structure similar to dynamic programming into the algorithm. The proposed algorithm can generate an asymptotically optimized smooth path in joint space, which continuously satisfies task space constraints and avoids obstacles. We have confirmed that the proposed algorithm is probabilistically complete and asymptotically optimized. Finally, we conduct multiple experiments with path length and tracking error as optimization targets and the planning results reflect the optimization effect of the algorithm.

scholarly journals A fractional approach for the motion planning of redundant and hyper-redundant manipulators

2011 ◽  
Vol 91 (3) ◽  
pp. 562-570 ◽  
Author(s):  
Maria da Graça Marcos ◽  
J.A. Tenreiro Machado ◽  
T.-P. Azevedo-Perdicoúlis
Keyword(s):  
Motion Planning ◽  
Redundant Manipulators

Comparison of Damped Velocity and Acceleration Control for Non-Redundant Manipulators

2000 ◽  
Author(s):  
Yu-Che Chen ◽  
Kevin A. O’Neil
Keyword(s):  
Path Tracking ◽  
Least Square ◽  
Dynamics Simulation ◽  
Control Algorithms ◽  
Redundant Manipulators ◽  
Velocity Control ◽  
Redundant Manipulator ◽  
Singular Configurations ◽  
On Line ◽  
Simulation Results

Abstract Damped Least Square (DLS) method has been widely used as an on-line algorithm for manipulator path tracking near and at singular configurations. Wampler (1986) formulated the framework of DLS method applied to velocity control and addressed the applicability of DLS method to acceleration control. The purpose of this paper is to demonstrate the differences in the joint paths generated by damped velocity and damped acceleration control algorithms in non-redundant manipulators. We examine these joint paths, find the cause of the differences, and demonstrate the features of damped acceleration control in non-redundant manipulator dynamics. Simulation results on a planar 2R and a spatial 6R manipulator moving through and near singular configurations verify the phenomena analyzed.

scholarly journals A multi-objective approach for the motion planning of redundant manipulators

2012 ◽  
Vol 12 (2) ◽  
pp. 589-599 ◽  
Author(s):  
Maria da Graça Marcos ◽  
J.A. Tenreiro Machado ◽  
T.-P. Azevedo-Perdicoúlis
Keyword(s):  
Motion Planning ◽  
Redundant Manipulators ◽  
Multi Objective

A Synthesis Procedure for Design of 3-R Planar Robotic Workcells in Which Large Rotations Are Required at the Workpiece

1992 ◽  
Vol 114 (4) ◽  
pp. 547-558 ◽  
Author(s):  
J. K. Davidson
Keyword(s):  
Motion Planning ◽  
Computer Science ◽  
New Method ◽  
Motion Trajectory ◽  
End Effector ◽  
Radial Location ◽  
Full Turn ◽  
Large Rotations ◽  
Synthesis Procedure ◽  
Planar Robots

A new method is developed for determining both a satisfactory location of a workpiece and a suitable mounting-angle of the tool for planar 3-R robots that can provide dexterous workspace. The method is an adaptation of traditional techniques of linkage synthesis, and it is particularly well-suited to applications in which the motion-trajectory requires large rotations of the end-effector. It is determined that, when the trajectory requires that the end-effector rotate a full turn at just two locations and when the critical joint in the robot is rotatable by one turn, then the radial location of the workpiece is fixed in the workcell but its angular location is not fixed. When the mounting-angle of the tool is also a variable, the method accommodates trajectories in which the tool must rotate a full turn at three locations on the workpiece. The method can be applied not only to planar robots with three hinge-joints, but also to spatial robots, each with a planar 3-R module, when the principal attitudinal excursions of the trajectory are all about a set of parallel axes. Variables are identified, for both the motion-trajectory and the workpiece itself, which strongly affect the design of the workcell and the time for it to complete a motion-trajectory. Example problems illustrate the method. The new method is suggested as an alternative to the existing methods of computer science for motion-planning.

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