NDLI: Time-optimal trajectory planning for robot manipulators based on the distortive configuration space method

Content Provider	IEEE Xplore Digital Library
Author	Shibata, M. Ohnishi, K.
Copyright Year	1994
Description	Author affiliation: Dept. of Electr. Eng., Keio Univ., Yokohama, Japan (Shibata, M.; Ohnishi, K.)
Abstract	This paper presents an approach to plan an obstacle avoiding path of time-optimal trajectory for robot manipulator. It is assumed that initial and final postures of the manipulator are specified and the manipulator is in the stationary state in both postures. The trajectory which minimizes the motion time from the initial state to the final state without any collisions against obstacles, is planned. The method to generate a collision free path for time-optimal trajectory is described. Then, we propose a method of using an advanced configuration space, the distortive configuration space method, to plan the path. When the configuration space has been obtained, it is then transformed with artificial potentials into the distortive one. The path for time-optimal trajectory is represented by a straight segment in the distortive space.
Starting Page	1052
Ending Page	1057
File Size	440778
Page Count	6
File Format	PDF
ISBN	0780313283
DOI	10.1109/IECON.1994.397936
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-09-05
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Orbital robotics Torque Acceleration Manipulator dynamics Collision avoidance Robots Stationary state Path planning
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Optimum path planning for robot manipulators amid static and dynamic obstacles

Dynamic collision avoidance for redundant multi-robot systems

Collision-free trajectory planning for two robots by giving difference to starting times

Real-time collision-free path planning of robot manipulators using neural network approaches

Time-varying obstacle avoidance for robot manipulators: Approaches and difficulties

Collision-Free Motion Planning of Two Robots

Lyapunov based collision avoidance and control of multiple robots

Collision avoidance for two SCARA robots

Time-energy optimal path tracking for robots: a numerically efficient optimization approach

Time-optimal trajectory planning for robot manipulators based on the distortive configuration space method

Similar Documents

Optimum path planning for robot manipulators amid static and dynamic obstacles

Dynamic collision avoidance for redundant multi-robot systems

Collision-free trajectory planning for two robots by giving difference to starting times

Real-time collision-free path planning of robot manipulators using neural network approaches

Time-varying obstacle avoidance for robot manipulators: Approaches and difficulties

Collision-Free Motion Planning of Two Robots

Lyapunov based collision avoidance and control of multiple robots

Collision avoidance for two SCARA robots

Time-energy optimal path tracking for robots: a numerically efficient optimization approach

Time-optimal trajectory planning for robot manipulators based on the distortive configuration space method