Motion planning of a redundant manipulator for the purpose of speed-up of the hands constant speed tasks

Okabe, Kousuke; Aiyama, Yasumichi

doi:10.1109/sii.2013.6776635

Cited by 1 publication

(6 citation statements)

References 7 publications

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“…The relation between R x , R v , and R a are following. These equations have been derived on the [11].…”

Section: Problem Formulationmentioning

confidence: 99%

“…The motion planning derives fast motion by using redundancy within joint torque limits Ω τ and joint velocity limits Ω v . This paper aims to reduce the calculation time without slowing maximum constant hand speed because the method of [11] of planning to general path. In this paper, we partition the hand path to easy sections and difficult sections based on curvature of the hand path.…”

Section: Problem Formulationmentioning

confidence: 99%

“…We use the path finding method of [11] for path finding on difficult sections. Where, an evaluation function is as follows.…”

Section: B Path Finding On State Space 1) In Case Of Difficult Sectimentioning

confidence: 99%

“…Previously, we proposed motion planning method [11] to speed up the path tracking task with constant hand speed using the redundancy of manipulator that has one RDOF. The proposed method used path finding algorithm based on full search.…”

Section: Introductionmentioning

confidence: 99%

“…The hand path is partitioned to difficult sections, that are difficult to move fast hand speed, and easy sections, that are easy to move fast hand speed. In difficult sections, we do motion planning using method of [11]. In easy sections, the motion has been planned using easy algorithm.…”

Section: Introductionmentioning

confidence: 99%

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Efficient motion planning for fast motion of path tracking task with constant hand speed using redundant manipulator

Okabe

Aiyama

2014

2014 IEEE/SICE International Symposium on System Integration

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In this paper, we propose an efficient motion planning method for fast motion of path tracking task with constant hand speed using redundant manipulator. The proposal method performs path finding on a state space of the manipulator instead of a motion planning. We previously proposed a motion planning method for fast motion of path tracking task with constant hand speed. However, this motion planning method had required long calculation time. Therefore, we propose an efficient motion planning method that based on partitioning the hand path into difficult sections and easy sections to do different path finding method on each sections. The difficult sections are the sections that difficult to operate fast motion within joint torque limits and joint velocity limits. The easy sections are the sections that easy to operate fast motion within the limits. In difficult sections, we look for paths to avoid limits on the state space using the previous method. In easy sections, we derive the connective paths between planned paths on the difficult sections. The 3-link planar manipulator has been used to show the efficacy of proposed method.

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“…The relation between R x , R v , and R a are following. These equations have been derived on the [11].…”

Section: Problem Formulationmentioning

confidence: 99%

Section: Problem Formulationmentioning

confidence: 99%

“…We use the path finding method of [11] for path finding on difficult sections. Where, an evaluation function is as follows.…”

Section: B Path Finding On State Space 1) In Case Of Difficult Sectimentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Efficient motion planning for fast motion of path tracking task with constant hand speed using redundant manipulator

Okabe

Aiyama

2014

2014 IEEE/SICE International Symposium on System Integration

Self Cite

View full text Add to dashboard Cite

show abstract

Motion planning of a redundant manipulator for the purpose of speed-up of the hands constant speed tasks

Cited by 1 publication

References 7 publications

Efficient motion planning for fast motion of path tracking task with constant hand speed using redundant manipulator

Efficient motion planning for fast motion of path tracking task with constant hand speed using redundant manipulator

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