Hostname: page-component-7b7567c8c-mnklg Total loading time: 0 Render date: 2026-11-12T08:02:24.759Z Has data issue: false hasContentIssue false
  • English
  • Français

Kinematic path control of robot arms

Published online by Cambridge University Press:  09 March 2009

Evgeny Krustev and
Ljubomir Lilov
Evgeny Krustev
Affiliation:
Institute of Mechanics and Biomechanics ul. “Acad. Bonchv”, bl. 8, 1113 Sofa (Bulgaria)
Ljubomir Lilov
Affiliation:
Institute of Mechanics and Biomechanics ul. “Acad. Bonchv”, bl. 8, 1113 Sofa (Bulgaria)
Get accessRights & Permissions [Opens in a new window]

Summary

Path planning of the end effector motion is here treated from the viewpoint of the path invariance under the transformations of its parametrical representation. Thus, a new method for path planning of the robot arm motion is being developed. Both the problems of finding the end effector time optimal motion and the end effector motion with a prescribed velocity profile along a preplanned path are being solved by the employment of this method. Simulation results are presented and some aspects of implementation are also discussed.

Information

Type
Article
Information
Robotica , Volume 4 , Issue 2 , April 1986, pp. 107 - 116
Copyright
Copyright © Cambridge University Press 1986

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Whitney, D.E., “Resolved Motion Rate Control of Manipulators and Human Prostheses” IEEE Transactions on Man-Machine Systems MMS-10, No. 2, 47–53 (1969).CrossRefGoogle Scholar
2.Whitney, D.E., “The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators” ASME Journal of Dynamic Systems, Measurement and Control, 303–309 (12 1972).CrossRefGoogle Scholar
3.Hirsch, M.W., Differential Topology (Springer Verlag, New York, 1976).CrossRefGoogle Scholar
4.Wittenburg, J., Dynamics of Systems of Rigid Bodies (B.G. Teubner, Stuttgart, 1977).Google Scholar
5.Hartenberg, R.S. & Denavit, J., Kinematic Synthesis of Linkages (McGraw-Hill, New York, 1964).Google Scholar
6.Lilov, L., “O dinamike odnokonturnoj manipuljacionnoj systemy” Bulgarian Academy of Sciences, Theoretical and Applied Mechanics, Year XII, No. 3, 26–33 (1981).Google Scholar
7.Konstantinov, M.S., Patarinski, S.P., Zamanov, V.B. & Nenchev, D.N., “A Contribution to the Inverse Kinematic Problem for Industrial Robots” Proc. 12-rh ISIR France Paris 459–469 (1982).Google Scholar
8.Konstantinov, M.S., Markov, M.D. & Nenchev, D.N., “Kinematic Control of Redundant Manipulators” Proc. 11-th ISIR, Japan Tokyo561–566 (1981).Google Scholar
9.Kim, B.K. & Shin, K.G., “An Efficient Minimum-time Robot Path Planning under Realistic Conditions” Proc. American Control Conference 1, 296–303 (1984).Google Scholar
10.Lin, C.S., Chang, P.R. & Luh, J.Y.S., “Formulation and Optimization of Cubic Polynomial Joint Trajectories for Mechanical Manipulators” Proc. IEEE Conference on Decision and Control 1, 330–335 (1982).Google Scholar
11.Luh, J.Y.S. & Walker, M.W., “Minimum-time along the Path for a Mechanical Arm” Proc. IEEE Conference on Decision and Control 1, 755–759 (1977).Google Scholar
12.Luh, J.Y.S.& Lin, C.S., “Optimum Path Planning for Mechanical Manipulators” ASME Journal of Dynamic Systems, Measurement and Control 102, 142–151 (05 1981).CrossRefGoogle Scholar
13.Luenberger, D.G., Optimization by Vector Space Methods (John Wiley, New York, 1969).Google Scholar
14.Krustev, E. & Lilov, L., “Kinematic Path Control of Robot Arms with Redundancy” Wissenschaftliche Zeitschrift DDR, Technische Mechanik, No. 2 (1985).Google Scholar
15.Pontryagin, L.S., Boltyanskii, V.G., Gamkerlidze, R.V. and Mishchenko, E.F., The Mathematical Theory of Optimal Processes (Interscience, John Wiley, New York, 1962).Google Scholar