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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Gupta, G. Sooyong Lee |
| Copyright Year | 2003 |
| Description | Author affiliation: Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA (Gupta, G.; Sooyong Lee) |
| Abstract | This paper is a summary of an effort to develop a powerful motion planning algorithm for the mobile manipulator. The mobile manipulator is expected to work in partially defined or unstructured environments. In our global/local approach to path planning, joint trajectories are generated for a desired Cartesian space path, designed by the global path planner. For local path planner, inverse kinematics for a redundant system is used. Obstacle avoidance and joint displacement limits for the manipulator links are considered in the motion planner. In an event of failure to obtain feasible trajectories, the task can not be accomplished. In the case of the joint constraint violation, use of Jacobian matrix element as gradient is proposed. At the point of failure, a derivation in the Cartesian space path is obtained and the re-planner gives a new path that would achieve the goal position. To calculate the deviation, a non-linear optimization problem is formulated and solved by standard sequential quadratic programming (SQP) method. |
| Sponsorship | IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. New Technol. Found |
| Starting Page | 1431 |
| Ending Page | 1436 |
| File Size | 387982 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780378601 |
| DOI | 10.1109/IROS.2003.1248845 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2003-10-27 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot kinematics Orbital robotics Path planning Mobile robots Trajectory Robotics and automation Manipulator dynamics Jacobian matrices Space exploration Mechanical engineering |
| Content Type | Text |
| Resource Type | Article |
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