@inproceedings{99196c6a2eeb48eda63a799f2ecad034,
title = "Motion planning for 6R-Robots: Multiple tasks with constrained velocity and orientation of the end-effector",
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.",
keywords = "Computer algebra, Motion planning",
author = "Dmytro Chibisov and Mayr, {Ernst W.}",
year = "2007",
doi = "10.1145/1277500.1277513",
language = "English",
isbn = "1595937447",
series = "SNC'07 - Proceedings of the 2007 International Workshop on Symbolic-Numeric Computation",
pages = "72--78",
booktitle = "SNC'07 - Proceedings of the 2007 International Workshop on Symbolic-Numeric Computation",
note = "SNC'07 - 2007 International Workshop on Symbolic-Numeric Computation ; Conference date: 25-07-2007 Through 27-07-2007",
}