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A contribution to minimum-time task-space path-following problem for redundant manipulators

Published online by Cambridge University Press:  19 February 2003

Francesco Basile  and
Pasquale Chiacchio
Francesco Basile
Affiliation:
Dipartimento di Ingegneria Elettrica e dell'Informazione, Università degli Studi di Salerno, Via Ponte Don Melillo 1, 84084 Fisciano (SA) (Italy)
Pasquale Chiacchio
Affiliation:
Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli (Italy)
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Abstract

The minimum-time path-following problem for non-redundant manipulator has already been analyzed and a number of efficient solution algorithms have been proposed. These algorithms can be applied also to redundant manipulators if the path is assigned in the joint space. If the path is assigned in the task space instead, how to exploit kinematic redundancy to reduce the execution time is still an open problem. In this paper it is proposed to follow a heuristic approach to choose between different solutions to the inverse kinematics problem that underlies the minimum-time path-following control problem. The aim is to obtain a joint-space path which configures the manipulator so as to improve acceleration/deceleration capabilities of the end-effector. This is obtained by penalizing the motion of joints with higher inertia-to-torque ratios. Numerical results are presented for an “easy-to-understand” three degree-of-freedom planar manipulator involved in two-dimensional paths.

Keywords

Redundant manipulatorsPath followingTask-spaceJoint-space path
Type
Research Article
Information
Robotica , Volume 21 , Issue 2 , March 2003 , pp. 137 - 142
Copyright
© 2003 Cambridge University Press

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