Hostname: page-component-586b7cd67f-rcrh6 Total loading time: 0 Render date: 2024-11-26T21:53:40.400Z Has data issue: false hasContentIssue false
  • English
  • Français

Continuous path planning via a non-inverting parallel algorithm

Published online by Cambridge University Press:  09 March 2009

S. D. Voliotis  and
M. A. Christodoulou
S. D. Voliotis
Affiliation:
Department of Computer Engineering and Computer Technology Institute, University of Patras, 26500 Patras (Greece).
M. A. Christodoulou
Affiliation:
Department of Electrical and Computer Engineering, Syracuse University, Syracuse, NY 13210, and Technical University of Crete, Department of Electronics, Chania Crete (Greece).
Get access Rights & Permissions [Opens in a new window]

Summary

The problem of path tracking in robotic manipulators applications is studied in this paper. The path is generated as a sequence of elementary motions. The characteristic feature of our algorithm is that it avoids singularities, because there is no need to use inverse kinematics. Direction and proximity criteria are introduced.

The application of parallel processing methods to path tracking according to the previous algorithm is presented. The algorithm is implemented in the Alliant FX/80 parallel machine.

Type
Article
Information
Robotica , Volume 10 , Issue 3 , May 1992 , pp. 205 - 216
Copyright
Copyright © Cambridge University Press 1992

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Whitney, D.E., “Resolved Motion Rate Control of Manipulators and Human Prostheses” IEEE Trans. on Man-Machine Systems MMS-10, 2, 47–53 (06, 1969).CrossRefGoogle Scholar
2.Paul, R.P., Robot Manipulators: Mathematics, Program ming and Control (MIT Press, Cambridge, Mass. 1981).Google Scholar
3.Craig, J.J., Introduction to Robotic Machines and Control (Addison Wesley, Reading Mass. 1986).Google Scholar
4.Vereschagin, A.F. and Generozov, V.L., “Planning of the actuator Trajectories of Manipulation Robot” (in Russian), Izvestiya AN USSR, Teknicheskaya Kibernetika 2 (1978).Google Scholar
5.Yamamoto, M., Ozaki, H. and Mohri, A., “Planning of Manipulator Joint Trajectories by an Iterative Method” Robotica 6, part 2, 101–105 (1988).CrossRefGoogle Scholar
6.Sugimoto, K., Duffy, J. and Hunt, K., “Special Configurations of Spatial Mechanisms and Robot Arms” Mech & Mach. Theory 17, No. 2, 119–132 (1982).CrossRefGoogle Scholar
7.Litvin, F., Yi, Z., Castelli, V. and Innocenti, C., “Singularities, Configurations, and Displacement Functions for Manipulators” Int. J. Rob. Res. 5, No. 2, 52–65 (Summer, 1986).CrossRefGoogle Scholar
8.Lai, Z. and Yang, D., “A New Method for the Singularity Analysis of Simple Six-Link Manipulators” Int. J. Rob. Res. 5, 66–74 (Summer, 1986).CrossRefGoogle Scholar
9.Wang, S. and Waldron, K., “A Study of the Singular Configurations of Serial Manipulators” Trans. ASME, J. Mech. Trans., & Aut. Des. 109, No. 2, 14–20 (03, 1987).Google Scholar
10.Tumeh, Z.S. and Alford, C.O., “Solving for Manipulator Joint Rates in Singular Positions” Proc. IEEE Int. Conf.Rob. & Aut.Philadelphia, PA (1988) pp. 987–992.Google Scholar
11.Nakamura, Y. and Hanafusa, H., “Inverse Kinematic Solutions with Singularity Robustness for Robot Manipulator Control” Trans., ASME, J. Dyn. Sys., Meas. & Cont. 109, 163–171 (1986).Google Scholar
12.Dauchez, P., “An Easy Way of Controlling Two Cooperating Robots Handling Light Objects at Low Speed” 25thIEEE CDC Athens (1986) pp. 236–238.Google Scholar
13.Krustev, E. and Lilov, L., “Kinematic Path Control of Robot Arms” Robotica 4, 107–116 (1986).CrossRefGoogle Scholar
14.Krustev, E. and Lilov, L., “Extended Kinematic Path Control of Robot Arms” Robotica 5, 45–53 (1987).CrossRefGoogle Scholar
15.Whitney, D.E., “The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators” ASME J. Dynamic Systems, Measurement and Control 303–309, (1972).CrossRefGoogle Scholar
16.Paul, R.P.C., “Manipulator Cartesian Path Control” IEEE Trans. on Systems, Man and Cybernetics SMC-9, 702–711 (1979).CrossRefGoogle Scholar
17.Taylor, R.H., “Planning and Execution of Straight Line Manipulator Trajectories”, IBM J. Research and Development 23, 424–436 (1979).CrossRefGoogle Scholar
18.Voliotis, S.D., Panopoulos, G.I. and Christodoulou, M.A., “Coordinated Path Tracking by Two Robot Arms with a Noninverting Algorithm Based on the Simplex Method” IEE part D, Control Theory and Applications 390–396 (1990).CrossRefGoogle Scholar
19.Christodoulou, M.A. and Voliotis, S.D., “Path Tracking with a Non-Inverting Algorithm in Robot Manipulators” MECO 8th Int. Symp. on Meas. Sign. Proc. and Con, Taormina, Italy (1986) pp. 256–258.Google Scholar
20.do Carmo, C., Differential Geometry of Curves and Surfaces (Englewood Cliffs, NJ: Prentice-Hall, 1976).Google Scholar
21.Ranky, P.G. and Ho, C.Y., Robot Modeling Control and Applications (IFS Publication, UK, 1985).Google Scholar