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JRM Vol.27 No.1 pp. 74-82
doi: 10.20965/jrm.2015.p0074
(2015)

Paper:

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Fast Motion of Path Tracking Task with Constant Hand Speed Using Redundant Manipulator

Kousuke Okabe and Yasumichi Aiyama

University of Tsukuba
1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

Received:
August 18, 2014
Accepted:
December 31, 2014
Published:
February 20, 2015
Creative Commons License
Keywords:
redundant manipulator, motion planning, path tracking task with constant hand-speed
Abstract
Limits and a motion in state space
We propose a motion planning method for accelerating path-tracking task with constant hand speed using redundant manipulator. Tracking-speed should be increased to satisfy the joint torque and joint velocity limits. We propose a method using the state space of redundant manipulators to analyze these limits and to operate motion planning. This state space has a position on a trajectory, redundant pose, and redundant velocity axes. These limits are projected on state space. We consider, motion planning is path-finding problem on state space at a constant hand speed. To plan a faster motion, a constant hand speed is examined by finding a path with limits in state space. We use computer simulation to test and evaluate our proposed method on 3-link planar manipulator. Results demonstrated motion faster than a motion minimizing joint acceleration norm and a motion minimizing driving torque norm. We also verified a problem when our method was applied to an actual manipulator.
Cite this article as:
K. Okabe and Y. Aiyama, “Fast Motion of Path Tracking Task with Constant Hand Speed Using Redundant Manipulator,” J. Robot. Mechatron., Vol.27 No.1, pp. 74-82, 2015.
Data files:
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