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Authors: Alexander Reiter ; Hubert Gattringer and Andreas Müller

Affiliation: Johannes Kepler University Linz, Austria

ISBN: 978-989-758-198-4

Keyword(s): Robotics, Optimal Control, Trajectory Planning, Redundant Robots, Inverse Kinematics.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Formal Methods ; Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Optimization Algorithms ; Performance Evaluation and Optimization ; Planning and Scheduling ; Robot Design, Development and Control ; Robotics and Automation ; Simulation and Modeling ; Symbolic Systems

Abstract: Minimum-time trajectories for applications where a geometric path is followed by a kinematically redundant robot’s end-effector may yield economical improvements in many cases compared to conventional manipulators. While for non-redundant robots the problem of finding such trajectories has been solved, the redundant case has not been treated exhaustively. In this contribution, the problem is split into two interlaced parts: inverse kinematics and trajectory optimization. In a direct optimization approach, the inverse kinematics problem is solved numerically at each time point. Therein, the manupulator’s kinematic redundancy is exploited by introducing scaled nullspace basis vectors of the Jacobian of differential velocities. The scaling factors for each time point are decision variables, thus the inverse kinematics is solved optimally w.r.t. the trajectory optimization goal, i.e. minimizing end time. The effectiveness of the presented method is shown by means of the example of a plana r 4R manipulator with two redundant degrees of freedom. (More)

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Paper citation in several formats:
Reiter, A.; Gattringer, H. and Müller, A. (2016). Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators.In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 61-68. DOI: 10.5220/0005975800610068

@conference{icinco16,
author={Alexander Reiter. and Hubert Gattringer. and Andreas Müller.},
title={Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={61-68},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005975800610068},
isbn={978-989-758-198-4},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators
SN - 978-989-758-198-4
AU - Reiter, A.
AU - Gattringer, H.
AU - Müller, A.
PY - 2016
SP - 61
EP - 68
DO - 10.5220/0005975800610068

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