Optimal Path Planning for redundant manipulators

• Main Author: McAvoy, Brendan
• Published: University of Salford 2005
• Subjects: 629.892
• Online Access: http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.490536

Although a lot of tesearch effort has been expended in the last decade on the problem of motion planning for redundant robotic manipulators, none of the approaches reported previously offers a readily implementable solution. A redundant manipulator has degrees of fi*eedom in excess of its task space dimension, and therefore has a non-unique solution to the inverse position kinematics problem. For a specified end effector move, and efficient use of the excess degrees of freedom implies the choice of motion plan which also achieves desired secondary objectives, such as optimization of a specified objective function.