Please use this identifier to cite or link to this item: https://hdl.handle.net/11000/31594

Planificación de trayectorias en robots redundantes con mapas de factibilidad y RRT

Title:
Planificación de trayectorias en robots redundantes con mapas de factibilidad y RRT
Authors:
Fabregat Jaen, Marc  
Peidro, Adrian  
Soler, F. J.
Gil, Arturo  
Reinoso, Oscar  
Editor:
UNIVERSIDAD DE ZARAGOZA ESCUELA DE INGENIERÍA Y ARQUITECTURA
Department:
Departamentos de la UMH::Ingeniería de Sistemas y Automática
Issue Date:
2023-09
URI:
https://hdl.handle.net/11000/31594
Abstract:
Redundant 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 simulation
Keywords/Subjects:
Redundant manipulators
Motion planning
Obstacle avoidance
Feasibility maps
RRT
Knowledge area:
CDU: Ciencias aplicadas: Ingeniería. Tecnología
Type of document:
application/pdf
Access rights:
info:eu-repo/semantics/openAccess
Attribution-NonCommercial-NoDerivatives 4.0 Internacional
DOI:
https://doi.org/10.17979/spudc.9788497498609
Appears in Collections:
Artículos Ingeniería de Sistemas y Automática



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