Hostname: page-component-7b7567c8c-5zcwv Total loading time: 0 Render date: 2026-11-15T08:56:00.603Z Has data issue: false hasContentIssue false
  • English
  • Français

Trajectory planning of redundant robots by maximizing the moving acceleration radius

Published online by Cambridge University Press:  09 March 2009

Ki-Kap Kim and
Yong-San Yoon
Ki-Kap Kim
Affiliation:
Department of Mechanical Engineering, KAIST, 373–1, Kusung-dong, Yusung-ku Taejon, 305–701 (Korea)
Yong-San Yoon
Affiliation:
Department of Mechanical Engineering, KAIST, 373–1, Kusung-dong, Yusung-ku Taejon, 305–701 (Korea)
Get accessRights & Permissions [Opens in a new window]

Summary

The moving acceleration radius (MAR) is proposed as a local performance index quantifying the dynamic uniformity of a redundant robot. MAR can be calculated by a simple sequential algorithm, and the resolution of the redundant joint angles is obtained by maximizing MAR locally. In addition, the reduction of the joint torques is achieved by maximizing the acceleration bound in the direction of work path, while MAR is being kept at a maximum. Also a new differentiation algorithm for angular acceleration is suggested for numerical efficiency as well as accuracy, using a null space operator.

A three degrees of freedom planar robot with one degree of redundancy, simulated using these algorithms for various situations, showed a marked improvement in dynamic characteristics.

Keywords

Trajectory planningRedundant robotDynamic uniformityMoving acceleration radius

Information

Type
Article
Information
Robotica , Volume 10 , Issue 3 , May 1992, pp. 195 - 203
Copyright
Copyright © Cambridge University Press 1992

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.Asada, H., “A Geometrical representation of manipulator dynamics and its application to arm design” Trans ASME J. Dyn. Syst., Meas, and Control 105, 131–135 (1983).Google Scholar
2.Yoshikawa, T., “Manipulability and Redundancy Control of Robotic Mechanisms” IEEE Int. Conference of Robotics and Automation 1004–1009 (1985).Google Scholar
3.Yoshikawa, T., “Dynamic Manipulability of Articulated Robot Arms” 15th ISIR 879–886 (1985).Google Scholar
4.Graettinger, T.J. and Krogh, B.H., “The Acceleration Radius: A Global Performance Measure for Robotic Manipulators” IEEE J. Robotics and Automation 4, No. 1, 60–69 (02, 1988).Google Scholar
5.Chang, P.H., “Development of a dexterity measure for kinematically redundant manipulators” Proc. American Control Conf. 496–506 (06, 1989).Google Scholar
6.Mayorga, R.V. and Ressa, B. and Wong, A.K.C., “A Dexterity Measure for Robot Manipulators” IEEE Int. Conference of Robotics and Automation 656–661 (1990).Google Scholar
7.Ma, O. and Angeles, J., “The Concept of Dynamic Isotropy and Its Applications to Inverse Kinematics and Trajectory Planning” IEEE Int. Conference of Robotics and Automation 481–486 (1990).Google Scholar
8.Whitney, D.E., “Resolved Motion Rate Control of Manipulators and Human Prostheses” IEEE Trans. Man Machine Systems MMS-10, No. 2, 47–53 (1969).Google Scholar
9.Luh, J.Y.S., Walker, M.W. and Paul, R.P.C., “Resolved-acceleration control of mechanical manipulators” IEEE Trans. on Automatic Control 25, 469–474 (1980).CrossRefGoogle Scholar
10.Chang, P.H., “A Closed-Form Solution for Inverse Kinematics of Robot Manipulators with Redundancy” IEEE J. Robotics and Automation RA-3, No. 5, 393–403 (1987).Google Scholar
11.Hollerbach, J.M. and Suh, K.C., “Redundancy Resolution of Manipulators through Torque Optimization” IEEE J. Robotics and Automation RA-3, No. 4, 308–316 (1987).Google Scholar
12.Kazerounian, K. and Nedungadi, A., “An Alternative Method for Minimization of the Driving Forces in Redundant Manipulators” IEEE Int. Conference of Robotics and Automation 1701–1706 (1987).Google Scholar
13.Carnahan, B., Applied Numerical Methods (John Wiley & Sons, New York, 1969) pp. 128–130.Google Scholar
14.Luenberger, D.G., Linear and Nonlinear Programming, Addison-Wesley Pub., New York, 1984 pp. 464–471.Google Scholar