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Exploring feasibility maps for trajectory planning of redundant manipulators using RRT


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Título :
Exploring feasibility maps for trajectory planning of redundant manipulators using RRT
Autor :
Fabregat Jaen, Marc  
Gil, Arturo
Peidro, Adrian  
Valiente, David  
Reinoso, Oscar  
Editor :
IEEE
Departamento:
Departamentos de la UMH::Ingeniería de Sistemas y Automática
Fecha de publicación:
2023-09
URI :
https://hdl.handle.net/11000/31593
Resumen :
Redundant 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.
Palabras clave/Materias:
redundant manipulator
inverse kinematics
motion planning
Área de conocimiento :
CDU: Ciencias aplicadas: Ingeniería. Tecnología
Tipo documento :
application/pdf
Derechos de acceso:
info:eu-repo/semantics/closedAccess
Attribution-NonCommercial-NoDerivatives 4.0 Internacional
DOI :
https://doi.org/10.1109/ETFA54631.2023.10275484
Aparece en las colecciones:
Artículos Ingeniería de Sistemas y Automática



Creative Commons La licencia se describe como: Atribución-NonComercial-NoDerivada 4.0 Internacional.