Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment - Advances in Production Management Systems Access content directly
Conference Papers Year : 2021

Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment

Abstract

The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two sub-problems, which deal with collision-free path planning for the robot end-effector and collision-free motion planning for the robot body. The first of them is solved via discrete dynamic programming, the second one is worked out using quadratic programming with mixed linear equality/nonequality constraints. Efficiency of the proposed technique is confirmed by simulation.
Fichier principal
Vignette du fichier
APMS2021_v9.1.pdf (582.2 Ko) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-03311952 , version 1 (02-08-2021)

Identifiers

Cite

Wanda Zhao, Anatol Pashkevich, Damien Chablat. Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment. IFIP International Conference on Advances in Production Management Systems (APMS), Sep 2021, Nantes, France. pp.449-456, ⟨10.1007/978-3-030-85910-7_47⟩. ⟨hal-03311952⟩
83 View
76 Download

Altmetric

Share

Gmail Mastodon Facebook X LinkedIn More