The superposition strategy for arm trajectory modification in robotic manipulators

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 29, Issue 1, 1999, Pages 83-95

  Gat Falik, Tali ^a   Flash, Tamar ^a  

^a WEIZMANN INSTITUTE OF SCIENCE   (Israel)

Author keywords

Human movement; Motion primitives; Superposition strategy; Trajectory modification; Trajectory planning

Indexed keywords

CONSTRAINT THEORY; KINEMATICS; MANIPULATORS;

MOTION PRIMITIVES; SUPERPOSITION STRATEGY; TRAJECTORY MODIFICATION METHOD;

MOTION PLANNING;

EID: 0033079219     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/3477.740168     Document Type: Article

References (18)

1. R. L. Andersson, "Aggressive trajectory generator for a robot pingpong player," in Proc. IEEE Int. Conf. Robotics Automation, 1988, pp. 188-193.
2. Y. Bestaoui, "Adaptive hierarchical control for robotic manipulators," North Holland Robot., vol. 4, pp. 145-155, 1988.
3. E. Burdet, "Algorithms of human motor control and their implementation in robotics," Ph.D. dissertation, Inst. Robotics, Zurich, Switzerland, 1996.
4. S. Chand and K. L. Doty, "On-line polynomial trajectories for robot manipulators," Int. J. Robot. Res., vol. 4-2, pp. 38-48, 1985.
5. T. Flash and E. Henis, "Arm trajectory modification during reaching toward visual targets," J. Cogn. Neurosci., vol. 3, pp. 220-230, 1991.
6. T. Flash and N. Hogan, "The coordination of arm movement: An experimentally confirmed mathematical model," J. Neurosci., vol. 7-5, pp. 1688-1704, 1985.
7. B. Ford, "NAG Fortran library manual, chapter ec4(ucf): Minimum, function of several variables, sequential QP method, nonlinear constraints, using function values and optionally 1st, derivatives (comprehensive)," Tech. Rep., NAG Ltd., Oxford, U.K., 1990.
8. T. Gat, "The superposition strategy for trajectory modification: Extensions to robot dynamic tasks," M.S. thesis, Weizmann Inst. Sci., Rehovot, Israel, 1990.
9. J. W. Gibbs and E. B. Wilson, Vector Analysis: A Text-Book Founded Upon the Lectures of J. W. Gibbs. New Haven: Yale Univ. Press, 1952.
10. E. Henis and T. Flash, "Mechanisms underlying the generation of averaged modified trajectories," Biol. Cybern., vol. 72, pp. 407-419, 1995.
11. J. Lloyd and V. Hayward, "Trajectory generation for sensory-driven and time-varying tasks," Int. J. Robot. Res., vol. 12-4, pp. 380-393, 1993.
12. T. E. Milner, "A model for the generation of movements requiring end-point precision," Neurosci., vol. 49, pp. 365-374, 1993.
13. P. Morasso and F. A. Mussa-Ivaldi, "Trajectory formation and handwriting: A computational model," Biol. Cybern., vol. 45, pp. 131-142, 1982.
14. T. Park and B. Lee, "An approach to robot motion analysis and planning for conveyor tracking," in Proc. IEEE Int. Conf. Robotics Automation, vol. 1-3, pp. 70-75, 1991.
15. V. Rogozin, Y. Edan, and T. Flash, "A real-time trajectory modification algorithm," submitted for publication.
16. W. M. Silver, "On the equivalence of Lagrangian and Newton-Euler dynamics for manipulators," in Tutorial on Robotics. C. S. G. Lee, R. C. Gonzalez, and K. S. Fu, Eds. Los Alamitos. CA: IEEE Comput. Soc., 1983, pp. 119-128.
17. K. Takayama and H. Kano, "A new approach to synthesizing free motions of robotic manipulators based on a concept of unit motions," IEEE Trans. Syst., Man, Cybern., vol. 25, pp. 453-463, 1995.
18. R. H. Taylor, Planning and Execution of Straight Line Manipulator Trajectories. Cambridge, MA: MIT Press, 1982, pp. 265-286.