The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON MATHEMATICS
Transactions ID Number: 89-412
Full Name: Cornel Secara
Position: Professor
Age: ON
Sex: Male
Address: Institute of Solid Mechanics of Romanian Academy, C-tin Mille 15, Bucharest
Country: ROMANIA
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E-mail address: luigiv@arexim.ro
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Title of the Paper: Iterative strategies for obstacle avoidance of a redundant manipulator
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Number of paper pages: 11
Abstract: Abstract: - This paper presents four different iterative strategies for obstacle avoidance of a redundant manipulator. The end-effector task consists in generating the references along the contour of a curve. The proposed strategies are iterative in the sense that the joint configuration computed in the previous step represents the current point around which the methods provide the next joint configuration corresponding to the imposed end-effector posture. The objective of the strategies is to simultaneously minimize the endeffector location error and the manipulator total joint displacement while the collision with the obstacle is avoided. The strategies are implemented using the Matlab software and the comparative simulation results are obtained for a planar redundant manipulator with four degrees of freedom and with its end-effector following the contour of a circle, whose surface is considered to be restrictive for all elements of the manipulator.
Keywords: Key-Words: - redundancy resolution, iterative strategy, obstacle avoidance, multiple criteria.
EXTENSION of the file: .pdf
Special (Invited) Session: Iterative genetic algorithm based strategy for obstacles avoidance of a redundant manipulator
Organizer of the Session: ID 629-314
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