Abstract
In this article a collision-free robot path planning procedure is presented in which a manipulability index has been included as one of the optimality criteria when generating the configuration space. From the set of collision-free configurations, a standard algorithm for obtaining optimal trajectories has been considered, taking into account the dynamical robot characteristics. It has been analyzed the effect of the manipulability index in parameters such as the total time that is necessary to perform the trajectory, while the characteristics of the actuators are taken into account.
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© 2002 Springer Science+Business Media Dordrecht
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Valero, F., Mata, V., Rubio, F., Suñer, JL. (2002). Influence of a Manipulability Index on Trajectory Planning for Robots in a Workspace with Obstacles. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_8
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DOI: https://doi.org/10.1007/978-94-017-0657-5_8
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6054-9
Online ISBN: 978-94-017-0657-5
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