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A novel variational approach for collision-free trajectory planning of robot manipulators 1
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Inverse kinematics of redundant robots using genetic algorithms
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Z.H. Zhu ; R.V. Mayorga ; A.K.C. Wong
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Abstract: The objective of the paper is to establish a mathematical framework for the variational approach for collision free trajectory planning of a robot manipulator, examine it from an engineering perspective and demonstrate the importance of the dynamic characteristics. The framework is based on the energetic concept of an instantaneous energy balance of a dynamic system. Within the framework, different energy forms are defined for obstacle, environmental constraints and task requirements according to their functional characteristics. By applying Hamilton's principle, the general differential control equations of the system are derived. The simulated results demonstrate the elegance and robustness of the current variational approach. Published in: Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on Date of Conference: 17-21 Oct. 1999
INSPEC Accession Number: 6505831
Date Added to IEEE Xplore: 06 August 2002
DOI: 10.1109/IROS.1999.811747
Print ISBN: 0-7803-5184-3
Publisher: IEEE Conference Location: Kyongju, South Korea, South Korea
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IEEE Keywords Trajectory, Manipulator dynamics, End effectors, Kinematics, Orbital robotics, Service robots, Motion control, Level control, Equations, Design engineering
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INSPEC: Controlled Indexing variational techniques, manipulators, collision avoidance, differential equations, robust control INSPEC: Non-Controlled Indexing differential control equations, variational approach, collision-free trajectory planning, robot manipulators, mathematical framework, engineering perspective, dynamic characteristics, instantaneous energy balance, dynamic system, energy forms, environmental constraints, task requirements, functional characteristics
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Authors Z.H. Zhu Indal Technol. Inc., Mississauga, Ont., Canada R.V. Mayorga A.K.C. Wong
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