Motion planning for 6R-Robots: Multiple tasks with constrained velocity and orientation of the end-effector

Dmytro Chibisov, Ernst W. Mayr

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

Abstract

In the present paper 1 we consider the kinematic properties of robots with 6 rotational joints and describe an approach for optimization of robot motion due to given geometric and differential constraints (i.e. constraints on velocity and orientation of the robot end-effector during the execution of some tasks, and limits on velocities and accelerations during the overall workcycle). We consider the non-academic, highly nonlinear model of a commercially available robot (KUKA robots with 6 rotation joints) and discuss several objectives for optimal motion. Given equations of robot motion in matrix form, we shall utilize the freedom in position and orientation of the robot end-effector during the task execution and express the solution space for our optimization task explicitly using computation of Moore-Penrose pseudoinverses of matrices with polynomial entries.

OriginalspracheEnglisch
TitelSNC'07 - Proceedings of the 2007 International Workshop on Symbolic-Numeric Computation
Seiten72-78
Seitenumfang7
DOIs
PublikationsstatusVeröffentlicht - 2007
VeranstaltungSNC'07 - 2007 International Workshop on Symbolic-Numeric Computation - London, ON, Kanada
Dauer: 25 Juli 200727 Juli 2007

Publikationsreihe

NameSNC'07 - Proceedings of the 2007 International Workshop on Symbolic-Numeric Computation

Konferenz

KonferenzSNC'07 - 2007 International Workshop on Symbolic-Numeric Computation
Land/GebietKanada
OrtLondon, ON
Zeitraum25/07/0727/07/07

Fingerprint

Untersuchen Sie die Forschungsthemen von „Motion planning for 6R-Robots: Multiple tasks with constrained velocity and orientation of the end-effector“. Zusammen bilden sie einen einzigartigen Fingerprint.

Dieses zitieren