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A discrete path/trajectory planner for robotic arms

Published online by Cambridge University Press:  17 February 2009

H. H. Tan  and
R. B. Potts
H. H. Tan
Affiliation:
Applied Mathematics Department, University of Adelaide, S.A.5000, Australia.
R. B. Potts
Affiliation:
Applied Mathematics Department, University of Adelaide, S.A.5000, Australia.
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Abstract

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An interesting and challenging problem in robotics is the off-line determination of the minimum cost path along which an end effector should move from a given initial to a given final state. This paper presents a discrete minimum cost path/trajectory planner which provides a general solution and allows for a range of constraints such as bounds on joint coordinates, joint velocities, joint torques and joint jerks. To demonstrate the practicability and feasibility of the planner, simulation results are presented for the Stanford manipulator using three and then the full six of its degrees of freedom. Simulation runs with two-link planar arms are also presented to enable a comparison with previously published results.

Type
Research Article
Information
The ANZIAM Journal , Volume 31 , Issue 1 , July 1989 , pp. 1 - 28
Copyright
Copyright © Australian Mathematical Society 1989

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