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dc.contributor.authorFabregat Jaen, Marc-
dc.contributor.authorGil, Arturo-
dc.contributor.authorPeidro, Adrian-
dc.contributor.authorValiente, David-
dc.contributor.authorReinoso, Oscar-
dc.contributor.otherDepartamentos de la UMH::Ingeniería de Sistemas y Automáticaes_ES
dc.date.accessioned2024-02-28T12:14:09Z-
dc.date.available2024-02-28T12:14:09Z-
dc.date.created2023-09-
dc.identifier.urihttps://hdl.handle.net/11000/31593-
dc.description.abstractRedundant manipulators offer several advantages, including improved manipulability, singularity avoidance, and obstacle evasion. However, kinematic redundancy also introduces additional challenges, such as the need to solve an underdetermined inverse kinematic problem to control the manipulator. This paper introduces a novel approach for motion planning of redundant manipulators, based on the exploration of feasibility maps. The proposed method is an extension of the RRT algorithm, modified to explore the redundant space in order to find a suboptimal feasible path in the joint space, sacrificing optimality for scalability to higher degrees of redundancy. The method is able to follow a given task trajectory while considering other constraints, such as joint limits, self-collisions, and obstacles.es_ES
dc.formatapplication/pdfes_ES
dc.format.extent8es_ES
dc.language.isoenges_ES
dc.publisherIEEEes_ES
dc.relation.ispartof2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)es_ES
dc.rightsinfo:eu-repo/semantics/closedAccesses_ES
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectredundant manipulatores_ES
dc.subjectinverse kinematicses_ES
dc.subjectmotion planninges_ES
dc.subject.otherCDU::6 - Ciencias aplicadas::62 - Ingeniería. Tecnologíaes_ES
dc.titleExploring feasibility maps for trajectory planning of redundant manipulators using RRTes_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.relation.publisherversionhttps://doi.org/10.1109/ETFA54631.2023.10275484es_ES
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Artículos Ingeniería de Sistemas y Automática


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