Abstract
An original algorithm of locally optimal (w.r.t. the manipulability criterion) motion planning for manipulators is presented. It takes advantage of the Singular Value Decomposition algorithm to decompose the Jacobian matrix of a manipulator and to transform a local motion planning problem into a task of finding a tangent point of a given manipulability ellipsoid with a family of spheres. This task supported by an analytic geometry technique generates one-dimensional optimization task. Its solution determines a short term motion at a current configuration. Performance of the algorithm was illustrated on a 3D planar pendulum manipulator.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bicchi, A., Prattichizzo, D., Melchiorri, C.: Force and dynamic manipulability for cooperating robots. In: Proc. Conf. on Intelligent Robotic Systems, pp. 1479–1484 (1991)
Barcio, B.T., Walker, I.D.: Impact ellipsoids and measures for robot manipulators. In: Proc. IEEE Conf. on Robotics and Automation, pp. 1588–1594 (1994)
Klein, C.A., Blaho, B.E.: Dexterity measures for the design and control of kinematically redundant manipulators. Int. Journ. of Robotic Research 6(2), 72–83 (1987)
Maciejewski, A.A., Klein, C.A.: The Singular Value Decomposition: Computation and Applications to Robotics. Int. Journ. of Robotic Research 8(6), 63–79 (1989)
Nakamura, Y.: Advanced Robotics: Redundancy and Optimization. Addison Wesley, New York (1991)
Yoshikawa, T.: Manipulability of robotic mechanisms. Int. Journ. of Robotic Research 4(2), 3–9 (1985)
Muszyński, R., Tchoń, K.: Dexterity ellipsoid for mobile robots. In: Proc. Conf. on Methods and Models in Automation and Robotics, Międzyzdroje, Poland, vol. 2, pp. 665–670 (2000)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer London
About this paper
Cite this paper
Dulȩba, I., Karcz-Dulȩba, I. (2012). Planning Motion of Manipulators with Local Manipulability Optimization. In: Kozłowski, K. (eds) Robot Motion and Control 2011. Lecture Notes in Control and Information Sciences, vol 422. Springer, London. https://doi.org/10.1007/978-1-4471-2343-9_31
Download citation
DOI: https://doi.org/10.1007/978-1-4471-2343-9_31
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-2342-2
Online ISBN: 978-1-4471-2343-9
eBook Packages: EngineeringEngineering (R0)