Please use this identifier to cite or link to this item: https://hdl.handle.net/11000/31594
Full metadata record
DC FieldValueLanguage
dc.contributor.authorFabregat Jaen, Marc-
dc.contributor.authorPeidro, Adrian-
dc.contributor.authorSoler, F. J.-
dc.contributor.authorGil, Arturo-
dc.contributor.authorReinoso, Oscar-
dc.contributor.otherDepartamentos de la UMH::Ingeniería de Sistemas y Automáticaes_ES
dc.date.accessioned2024-02-28T12:15:27Z-
dc.date.available2024-02-28T12:15:27Z-
dc.date.created2023-09-
dc.identifier.isbn978‐84‐9749‐860‐9-
dc.identifier.urihttps://hdl.handle.net/11000/31594-
dc.description.abstractRedundant manipulators offer multiple advantages, such as improved manipulability, or evasion of singularities and obstacles. However, kinematic redundancy also introduces additional difficulties, such as the need to solve an underdetermined inverse kinematics problem. This article presents a novel method for motion planning of redundant manipulators, based on the exploration of feasibility maps. The proposed method is an extension of the Rapidly-exploring Random Trees (RRT) algorithm, modified to explore the redundant task space with the purpose of finding a feasible suboptimal path in the joint space, sacrificing optimality for scalability to a higher number of degrees of redundancy. The method is capable of following a given trajectory in the task space, while considering other constraints, such as obstacle avoidance or joint limits. The method has been validated under simulationes_ES
dc.formatapplication/pdfes_ES
dc.format.extent23es_ES
dc.language.isoenges_ES
dc.publisherUNIVERSIDAD DE ZARAGOZA ESCUELA DE INGENIERÍA Y ARQUITECTURAes_ES
dc.relation.ispartofXLIV JORNADAS DE AUTOMÁTICA : LIBRO DE ACTAS UNIVERSIDAD DE ZARAGOZA ESCUELA DE INGENIERÍA Y ARQUITECTURA 6, 7 Y 8 DE SEPTIEMBRE DE 2023 ZARAGOZAes_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectRedundant manipulatorses_ES
dc.subjectMotion planninges_ES
dc.subjectObstacle avoidancees_ES
dc.subjectFeasibility mapses_ES
dc.subjectRRTes_ES
dc.subject.otherCDU::6 - Ciencias aplicadas::62 - Ingeniería. Tecnologíaes_ES
dc.titlePlanificación de trayectorias en robots redundantes con mapas de factibilidad y RRTes_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.relation.publisherversionhttps://doi.org/10.17979/spudc.9788497498609es_ES
Appears in Collections:
Artículos Ingeniería de Sistemas y Automática


Thumbnail

View/Open:
 13-2023_Jornadas_de_Automatica_RRT_Marc_Fabregat (1).pdf

5,47 MB
Adobe PDF
Share:


Creative Commons ???jsp.display-item.text9???