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Continuous path planning via a non-inverting parallel algorithm

Published online by Cambridge University Press:  09 March 2009

S. D. Voliotis  and
M. A. Christodoulou
S. D. Voliotis
Affiliation:
Department of Computer Engineering and Computer Technology Institute, University of Patras, 26500 Patras (Greece).
M. A. Christodoulou
Affiliation:
Department of Electrical and Computer Engineering, Syracuse University, Syracuse, NY 13210, and Technical University of Crete, Department of Electronics, Chania Crete (Greece).
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Summary

The problem of path tracking in robotic manipulators applications is studied in this paper. The path is generated as a sequence of elementary motions. The characteristic feature of our algorithm is that it avoids singularities, because there is no need to use inverse kinematics. Direction and proximity criteria are introduced.

The application of parallel processing methods to path tracking according to the previous algorithm is presented. The algorithm is implemented in the Alliant FX/80 parallel machine.

Type
Article
Information
Robotica , Volume 10 , Issue 3 , May 1992 , pp. 205 - 216
Copyright
Copyright © Cambridge University Press 1992

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