Paper Info
Title
A contribution tominimum-time task-space path-following problem for redundant manipulators
Abstract
The minimum-time path-following problem for non-redundant manipulator has already been analyzed and a number of efficient solution algorithms have been proposed. These algorithms can be applied also to redundant manipulators if the path is assigned in the joint space. If the path is assigned in the task space instead, how to exploit kinematic redundancy to reduce the execution time is still an open problem. In this paper it is proposed to follow a heuristic approach to choose between different solutions to the inverse kinematics problem that underlies the minimum-time path-following control problem. The aim is to obtain a joint-space path which configures the manipulator so as to improve acceleration/deceleration capabilities of the end-effector. This is obtained by penalizing the motion of joints with higher inertia-to-torque ratios. Numerical results are presented for an "easy-to-understand" three degree-of-freedom planar manipulator involved in two-dimensional paths.
Year
DOI
Venue
2003
10.1017/S0263574702004678
ROBOTICA
Keywords
DocType
Volume
redundant manipulators,path following,task-space,joint-space path
Journal
21
Issue
ISSN
Citations 
2
0263-5747
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Francesco Basile116111.25
Pasquale Chiacchio242146.31