The self-adaptation of weights for joint-limits and singularity avoidances of functionally redundant robotic-task

Robotics and Computer-Integrated Manufacturing

Volumn 27, Issue 2, 2011, Pages 367-376

  Huo, Liguo ^a   Baron, Luc ^a  

^a ÉCOLE POLYTECHNIQUE DE MONTRÉAL   (Canada)

Author keywords

Kinematics; Optimization; Redundancy; Robotics; Trajectory planning; Weights

Indexed keywords

DECOMPOSITION ALGORITHM; FUNCTIONAL REDUNDANCY; KINEMATIC REDUNDANCY; MAIN TASKS; MANUAL TUNING; REDUNDANCY RESOLUTION; SELF ADAPTATION; SINGULARITY AVOIDANCE; TRAJECTORY PLANNING; WEIGHTS;

KINEMATICS; MANIPULATORS; OPTIMIZATION; REDUNDANCY; ROBOT PROGRAMMING; ROBOTICS; ROBOTS;

QUALITY ASSURANCE;

EID: 78649334256     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.rcim.2010.08.004     Document Type: Article

References (21)

1. A. Gasparetto, and V. Zanotto Optimal trajectory planning for industrial robots Adv Eng Software 41 4 2010 548 556
2. M. Da Graa An evolutional approach for the motion planning of redundant and hyper-redundant maniputors Nonlinear Dyn 60 12 2010 115 129
3. A. Olabi Feedrate planning for machining with industrial six-axis robots Control Eng Pract 18 5 2010 471 482
4. A. Ligeois Automatic supervisory control of the configuration and behavior of multibody mechanisms IEEE Trans Syst Man Cybern SMC-7 12 1977 245 250
5. Siciliano B. Solving manipulator redundancy with the augmented task space method using the constraint Jacobian transpose. In: IEEE international conference on robotics and automation, vol. 5, 1992. p. 18.
6. T. Yoshikawa Basic optimization methods of redundant manipulator Lab Robotics and Autom 8 1 1996 49 60
7. D.E. Whitney The mathematics of coordinated control of prosthetic arms and manipulator ASME J Dyn Syst Meas Control 94 4 1972 303 309
8. C.A. Klein, and C.-H. Huang Review of pseudoinverse control for use with kinematically redundant manipulators IEEE Trans Syst Man Cybern SMC-13 3 1983 245 250
9. J. Angeles, M. Habib, and C.S. Lopez-Cajun Efficient algorithms for the kinematic inversion of redundant robot manipulators Int J Robotics Autom 2 3 1987 106 115
10. Arenson N, Angles J, Slutski L. Redundancy-resolution algorithms for isotropic robots. In: Advances in robot kinematics: analysis and control, Salzburg, Austria, 1998. p. 42534.
11. Baron L. A joint-limits avoidance strategy for arc-welding robots. In: International conference on integrated design and manufacturing in mechanical engineering, Montreal, Canada, May 1619, 2000.
12. F. Chaumette, and. Marchand A redundancy-based iterative approach for avoiding joint limits: application to visual servoing IEEE Trans Robotics Autom 17 5 2001 719 730
13. L. Sciavicco, and B. Siciliano Modelling and control of robot manipulators 2000 Springer London
14. L. Huo, and L. Baron Kinematic inversion of functionally-redundant serial manipulators: application to arc-welding Trans Can Soc Mech Eng 29 4 2005 679 690
15. Y. Nakamura, H. Hanafusa, and T. Yoshikawa Task-priority based redundancy control of robot manipulators Int J Robotics Res 6 2 1987
16. D.E. Whitney Resolved motion rate control of manipulators and human prostheses IEEE Trans Man-Machine Syst 10 2 1969 47 53
17. Bedrossian N. Classification of singular configurations for redundant manipulators. In: IEEE international conference on robotics and automation, 1990. p. 81823.
18. T. Yoshikawa Foundations of robotics: analysis and control 1990 The MIT Press
19. Marani G. et al. A real-time approach for singularity avoidance in resolved motion rate control of robotic manipulators. In: IEEE international conference on robotics and automation, 2002. p. 19738.
20. Huo L, Baron L. Inverse kinematics of functionally-redundant serial manipulators under joint limits and singularity avoidance. In: Conference on systems and control, Marrakech, Morocco, May 1618, 2007.
21. http://www.robotmaster.com