The kinematic roadmap: a motion planning based global approach for inverse kinematics of redundant robots

Ahuactzin, Juan-Manuel; Gupta, Kalyan Kali Sen

doi:10.1109/70.781970

Cited by 78 publications

(58 citation statements)

References 34 publications

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“…Equation (7) rotates one vector into another vector and has two degrees of freedom (e.g. longitude and latitude) [7]. A unit vector with respect to a unit reference vector is referred to as direction.…”

Section: B Quaternions and Rotationsmentioning

confidence: 99%

Real-time optimal trajectory planning for robotic manipulators with functional redundancy

From

Gravdahl

2009

2009 IEEE International Conference on Industrial Technology

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Abstract-In this paper we show that by allowing a small orientation error in the specifications of the end effector orientation for spray paint applications, both speed and performance can be substantially improved. In previous publications, we have shown how a continuous set of orientations can be represented as a positive definiteness test on a given matrix. This allows us to cast the problem into a convex optimisation problem where the optimal orientation for each time step is to be found. The orientation which allows the manipulator to follow a given path as fast as possible and with constant speed is considered the optimal orientation. In this paper we show how to solve this problem for every time step. The solution is computationally fast and can be implemented in real time. Numerical examples are presented to verify the efficiency of the approach.

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Section: B Quaternions and Rotationsmentioning

confidence: 99%

Real-time optimal trajectory planning for robotic manipulators with functional redundancy

From

Gravdahl

2009

2009 IEEE International Conference on Industrial Technology

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show abstract

“…In cases when the number of degrees of freedom (DoF) of the robot affecting gross end-effector motion are small (less than 5), the best-first planning approach provides a fast and reliable solution . For highly redundant robots, a different search strategy can be employed, such as randomized planning (Barraquand and Latombe, 1991), or probabilistic roadmap planning (Kavraki, Svestka et al, 1996;Ahuactzin and Gupta, 1999;Choset and Burdick, 2000;Yu and Gupta, 2000). For example, either random sampling of the configuration space (Kavraki, Svestka et al, 1996), or the Generalized Voronoi Graph (Choset and Burdick, 2000), can be used to generate a roadmap of the connected free regions in the configuration space.…”

Section: Danger Criterionmentioning

confidence: 99%

Safe Motion Planning for Human-Robot Interaction: Design and Experiments

Croft

2006

Mobile Robots: Towards New Applications

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“…Systems finding a collision-free joint space path (Latombe and Barraquand, 1991), and problems that require maintaining end-effector constraints throughout the path (Stilman, 2007;Gupta, 2005;Berenson and Kuffner, 2011) have been explored. It is usually distinguished between problems where a single goal is specified (Ahuactzin and Gupta, 1999) and problems where the entire end-effector path is predetermined (Guo and Hsia, 1990;Oriolo et al, 2002). Applying this, Lacevic and Rocco (2010) presented an approach using Danger Fields based on a kinetostatic image of the current situation.…”

Section: Introductionmentioning

confidence: 99%

A Proactive Strategy for Safe Human-Robot Collaboration based on a Simplified Risk Analysis

Sanderud¹,

Thomessen²,

Osumi³

et al. 2015

MIC

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In an increasing demand for human-robot collaboration systems, the need for safe robots is crucial. This paper presents a proactive strategy to enable an awareness of the current risk for the robot. The awareness is based upon a map of historically occupied space by the operator. The map is built based on a risk evaluation of each pose presented by the operator. The risk evaluation results in a risk field that can be used to evaluate the risk of a collaborative task. Based on this risk field, a control algorithm that constantly reduces the current risk within its task constraints was developed. Kinematic redundancy was exploited for simultaneous task performance within task constraints, and risk minimization. Sphere-based geometric models were used both for the human and robot. The strategy was tested in simulation, and implemented and experimentally tested on a NACHI MR20 7-axes industrial robot.

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The kinematic roadmap: a motion planning based global approach for inverse kinematics of redundant robots

Cited by 78 publications

References 34 publications

Real-time optimal trajectory planning for robotic manipulators with functional redundancy

Real-time optimal trajectory planning for robotic manipulators with functional redundancy

Safe Motion Planning for Human-Robot Interaction: Design and Experiments

A Proactive Strategy for Safe Human-Robot Collaboration based on a Simplified Risk Analysis

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