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Trajectory planning of redundant robots by maximizing the moving acceleration radius

Published online by Cambridge University Press:  09 March 2009

Ki-Kap Kim  and
Yong-San Yoon
Ki-Kap Kim
Affiliation:
Department of Mechanical Engineering, KAIST, 373–1, Kusung-dong, Yusung-ku Taejon, 305–701 (Korea)
Yong-San Yoon
Affiliation:
Department of Mechanical Engineering, KAIST, 373–1, Kusung-dong, Yusung-ku Taejon, 305–701 (Korea)
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Summary

The moving acceleration radius (MAR) is proposed as a local performance index quantifying the dynamic uniformity of a redundant robot. MAR can be calculated by a simple sequential algorithm, and the resolution of the redundant joint angles is obtained by maximizing MAR locally. In addition, the reduction of the joint torques is achieved by maximizing the acceleration bound in the direction of work path, while MAR is being kept at a maximum. Also a new differentiation algorithm for angular acceleration is suggested for numerical efficiency as well as accuracy, using a null space operator.

A three degrees of freedom planar robot with one degree of redundancy, simulated using these algorithms for various situations, showed a marked improvement in dynamic characteristics.

Keywords

Trajectory planningRedundant robotDynamic uniformityMoving acceleration radius
Type
Article
Information
Robotica , Volume 10 , Issue 3 , May 1992 , pp. 195 - 203
Copyright
Copyright © Cambridge University Press 1992

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