Path following algorithm for highly redundant manipulators
DOI: 10.1016/S0921-8890(03)00083-6
Title: Path following algorithm for highly redundant manipulators
Journal Title: Robotics and Autonomous Systems
Volume: 45
Issue: 1
Publication Date: 31 October 2003
Start Page: 1
End Page: 22
Published online: online 28 June 2003
ISSN: 0921-8890
Author: Erdinc Sahin Conkur Author Vitae
  • Mechanical Engineering Department, Pamukkale University, Denizli 20017, Turkey
  • Abstract: ithm for Path planning for highly redundant manipulators is presented in this paper. Assuming an approximated Path is given by B-spline curves, Path following is defined by requiring manipulator links to remain approximately tangent to these curves. The algorithm decouples manipulator links and establishes each link’s position relative to the curve using a numerical approach. As a result, the whole link achieves manoeuvring around the curve. A robust propagation procedure between links is also performed, which checks every link’s position and moves the links coming after the most recently moved link. These features lead to handling a huge number of degrees of freedom (DOFs) while keeping tight manoeuvring ability of highly redundant manipulators as illustrated with several examples.
    Received: 8 December 2002
    Revised: 1 April 2003

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