Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators

Alexander Reiter, Hubert Gattringer, Andreas Müller

2016

Abstract

Minimum-time trajectories for applications where a geometric path is followed by a kinematically redundant robot’s end-effector may yield economical improvements in many cases compared to conventional manipulators. While for non-redundant robots the problem of finding such trajectories has been solved, the redundant case has not been treated exhaustively. In this contribution, the problem is split into two interlaced parts: inverse kinematics and trajectory optimization. In a direct optimization approach, the inverse kinematics problem is solved numerically at each time point. Therein, the manupulator’s kinematic redundancy is exploited by introducing scaled nullspace basis vectors of the Jacobian of differential velocities. The scaling factors for each time point are decision variables, thus the inverse kinematics is solved optimally w.r.t. the trajectory optimization goal, i.e. minimizing end time. The effectiveness of the presented method is shown by means of the example of a planar 4R manipulator with two redundant degrees of freedom.

Paper Citation

in Harvard Style

Reiter A., Gattringer H. and Müller A. (2016). Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 61-68. DOI: 10.5220/0005975800610068

in Bibtex Style

@conference{icinco16,
author={Alexander Reiter and Hubert Gattringer and Andreas Müller},
title={Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={61-68},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005975800610068},
isbn={978-989-758-198-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators
SN - 978-989-758-198-4
AU - Reiter A.
AU - Gattringer H.
AU - Müller A.
PY - 2016
SP - 61
EP - 68
DO - 10.5220/0005975800610068