Optimal Planning of a Collision-free Trajectory of Redundant Manipulators
Optimal Planning of a Collision-free Trajectory of Redundant Manipulators
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DOI：
10.1177/027836499201100604
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发表时间：
1992-12
期刊：
影响因子：
--
通讯作者：
M. Galicki
中科院分区：
文献类型：
--
作者：
M. Galicki
在这项研究中，全局规划的无碰撞轨迹（同时规划的几何路径和时间帕拉）涉及潜在的功能和直接的运动学和动力学方程的机械手。这种规划是基于使用的必要条件，最小的积分型准则。一般的横截性条件对应的边界的（从执行的任务）。因此，封闭系统的边界依赖完全指定的微分方程，这是由必要条件的极端上述准则，得到。结果，该系统使得可以将无碰撞轨迹规划问题简化为两点边值问题。一个数值例子，涉及的三个转动运动副的第V类的机械手被认为是。
In this study, global planning of a collision-free trajectory (simultaneous planning of geometric path and its time para meterization) involving potential functions and direct kinematic and dynamic equations of the manipulator is presented. This planning is based on using the necessary conditions of min imum for an integral type criterion. General transversality conditions corresponding to the boundary ones (resulting from the task to be performed) are derived. Thus, closed systems of boundary dependences fully specifying differential equations, which arise from the necessary conditions of extreme for the above criterion, are obtained. As a result, this system renders it possible to reduce the collision-free trajectory planning problem to a two-point boundary value problem. A numerical example involving a manipulator of three-revolute kinematic pairs of the Vth class is considered.