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ORIGINAL PAPER
Trajectory Planning of the Humanoid Manipulator
1
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
KEYWORDS
ABSTRACT
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.
FUNDING
This research received no specific grant from any funding agency in the public, commercial, or not-for-profit sectors.
CONFLICT OF INTEREST
The authors declare that they have no conflict of interest.
DATA AVAILABILITY
All data generated or analysed during this study are included in this published article.
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| eISSN: | 2353-9003 |
| ISSN: | 1734-4492 |
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