A DIRECT ALGORITHM FOR CONTINUOUS PATH CONTROL OF MANIPULATORS

doi:10.1016/0736-5845(91)90025-N

1991-01-01

PRE

Nikos Aspragathos

DOI：10.1016/0736-5845(91)90025-N

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This paper presents an algorithm for positioning and orientation of the hand for a redundant or non-redundant manipulator along a continuous path in space. This algorithm minimizes the distance between the actual position of the tip of the end-effector and the desired path. The algorithm does not use the Jacobian matrix for the inverse kinematics of the robot. It takes full advantage of the resolution of the joint drives, avoids singularity problems, and can be used for both redundant and non-redundant manipulators. The algorithm can be used in any situation where continuous motion of the end-effector is required in an open loop mode.

期刊

Robotics and Computer-Integrated Manufacturing

IF:

11.4

论文数:

3.3K

被引数:

1.3W

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