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The International Journal of Robotics Research
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Real-Time Trajectory Generation for Redundant Manipulators with Path Constraints

Miroslaw Galicki

Institute of Organization and Management, Technical University of Zielona Góra, Podgórna 50, 65-246 Zielona Góra, Poland; Institute of Medical Statistics, Computer Sciences and Documentation, Medical Faculty of the Friedrich-Schiller-University of Jena, Jahnstrasse 3, D–07740 Jena, Germanygalicki{at}imsid.uni-jena.de

This paper addresses the problem of tracking a prescribed geometric path by the end effector of a kinematically redundant manipulator at the control loop level. The constraints imposed on the robot actuator controls are taken into account. The Lyapunov stability theory and/or the calculus of variations is used to derive the control scheme. Through the use of an exterior penalty function approach, an additional objective to be fulfilled by the robot, thatis, collisionavoidance of the manipulator links with obstacles, is ensured. The extensive computer simulation results illustrate the trajectory performance of the proposed control scheme for a geometric end effector path given in both an obstacle-free work space and a work space including obstacles.

Key Words: redundant manipulator • end-effector path • stability • collision avoidance

The International Journal of Robotics Research, Vol. 20, No. 8, 676-693 (2001)
DOI: 10.1177/02783640122067606
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M. Galicki
Inverse Kinematics Solution to Mobile Manipulators
The International Journal of Robotics Research, December 1, 2003; 22(12): 1041 - 1064.
[Abstract] [PDF]