Trajectory Planning of the Humanoid Manipulator
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University of Zielona Góra, Institute of Mechanical Engineering and Machine Operation, Licealna 9, 65-417, Zielona Góra, Poland
Online publication date: 2019-08-09
Publication date: 2019-09-01
International Journal of Applied Mechanics and Engineering 2019;24(3):591-602
The paper presents a method of planning a collision-free trajectory for a humanoid manipulator mounted on a rail system. The task of the robot is to move its end-effectors from the current position to the given final location in the workspace. The method is based on a redundancy resolution at the velocity level. In addition to this primary task, secondary objectives are also taken into account. The motion of the robot is planned in order to maximize a manipulability measure in purpose of avoiding manipulator singularities. State inequality constraints resulting from collision avoidance conditions are also considered. A computer example involving a humanoid manipulator operating in a three dimensional task space is also presented.
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