A geometrical motion planning approach for redundant planar manipulators

Yahya, Samer and Mohamed, Haider A.F. and Moghavvemi, Mahmoud (2009) A geometrical motion planning approach for redundant planar manipulators. Australian Journal of Basic and Applied Sciences, 3 (4). pp. 3757-3770. ISSN 1991-8178,

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Official URL: http://www.ajbasweb.com/old/ajbas/2009/3757-3770.p...


Efficient control of industrial robots is an important factor in the success of industrial automation. Motion planning of robot manipulators is one of the challenging problems encountered in this field. This paper proposes a method for the motion planning of the redundant planar manipulators. The main idea is to find a smooth path consisting of points close enough to each other and geometrically compute their inverse kinematics. The proposed method will generate a single solution. Which makes the problem of finding one solution among the infinite solutions caused by redundancy is avoided. To demonstrate the effectiveness of the proposed method, this paper considers a 5-links redundant manipulator, the results are very promising.

Item Type: Article
Uncontrolled Keywords: Manipulators-kinematics; Motion-planning; Redundancy
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 24 Mar 2014 09:08
Last Modified: 14 Nov 2019 01:07
URI: http://eprints.um.edu.my/id/eprint/9705

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