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Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment

Abstract : The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two sub-problems, which deal with collision-free path planning for the robot end-effector and collision-free motion planning for the robot body. The first of them is solved via discrete dynamic programming, the second one is worked out using quadratic programming with mixed linear equality/nonequality constraints. Efficiency of the proposed technique is confirmed by simulation.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-03311952
Contributor : Damien Chablat <>
Submitted on : Monday, August 2, 2021 - 10:27:40 AM
Last modification on : Tuesday, September 21, 2021 - 4:06:16 PM

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APMS2021_v9.1.pdf
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  • HAL Id : hal-03311952, version 1
  • ARXIV : 2108.00762

Citation

Wanda Zhao, Anatol Pashkevich, Damien Chablat. Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment. 60th Advances in production management systems, APMS 2021, Sep 2021, Nantes, France. ⟨hal-03311952⟩

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