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Planning of manipulator joint trajectories by an iterative method

Published online by Cambridge University Press:  09 March 2009

M. Yamamoto ,
H. Ozaki  and
A. Mohri
M. Yamamoto
Affiliation:
Department of Mechanical Engineering, Production Division, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki Higashiku, Fukuoka, 812 (Japan)
H. Ozaki
Affiliation:
Department of Mechanical Engineering, Production Division, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki Higashiku, Fukuoka, 812 (Japan)
A. Mohri
Affiliation:
Department of Mechanical Engineering, Production Division, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki Higashiku, Fukuoka, 812 (Japan)
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Summary

Manipulator joint trajectories are planned to make an arbitrary cost function as good as possible in consideration of physical constraints based on kinematics and dynamics of a manipulator system. An algorithm presented in this paper is an iteratively improving method using the local controllability of B spline. It can be also applied to the case that some points are specified and joint trajectories must pass through those points. This algorithm is applied to an example of trajectory planning of a manipulator with two links and two degrees of freedom.

Keywords

Joint trajectoriesManipulatorIterativePlanning
Type
Research Article
Information
Robotica , Volume 6 , Issue 2 , April 1988 , pp. 101 - 105
Copyright
Copyright © Cambridge University Press 1988

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References

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