A geometrical motion planning approach for redundant planar manipulators
Efficient control of industrial robots is an important factor in the success of industrial automation. Motion planning of robot manipulators is one of the challenging problems encountered in this field. This paper proposes a method for the motion planning of the redundant planar manipulators. The ma...
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| Format: | Article |
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American-Eurasian Network for Scientific Information, Jordan
2009
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| author | Yahya, Samer Mohamed, Haider A.F. Moghavvemi, Mahmoud |
| author_facet | Yahya, Samer Mohamed, Haider A.F. Moghavvemi, Mahmoud |
| author_sort | Yahya, Samer |
| collection | UM |
| description | Efficient control of industrial robots is an important factor in the success of industrial automation. Motion planning of robot manipulators is one of the challenging problems encountered in this field. This paper proposes a method for the motion planning of the redundant planar manipulators. The main idea is to find a smooth path consisting of points close enough to each other and geometrically compute their inverse kinematics. The proposed method will generate a single solution. Which makes the problem of finding one solution among the infinite solutions caused by redundancy is avoided. To demonstrate the effectiveness of the proposed method, this paper considers a 5-links redundant manipulator, the results are very promising. |
| first_indexed | 2024-03-06T05:24:31Z |
| format | Article |
| id | um.eprints-9705 |
| institution | Universiti Malaya |
| last_indexed | 2024-03-06T05:24:31Z |
| publishDate | 2009 |
| publisher | American-Eurasian Network for Scientific Information, Jordan |
| record_format | dspace |
| spelling | um.eprints-97052019-11-14T01:07:53Z http://eprints.um.edu.my/9705/ A geometrical motion planning approach for redundant planar manipulators Yahya, Samer Mohamed, Haider A.F. Moghavvemi, Mahmoud TA Engineering (General). Civil engineering (General) Efficient control of industrial robots is an important factor in the success of industrial automation. Motion planning of robot manipulators is one of the challenging problems encountered in this field. This paper proposes a method for the motion planning of the redundant planar manipulators. The main idea is to find a smooth path consisting of points close enough to each other and geometrically compute their inverse kinematics. The proposed method will generate a single solution. Which makes the problem of finding one solution among the infinite solutions caused by redundancy is avoided. To demonstrate the effectiveness of the proposed method, this paper considers a 5-links redundant manipulator, the results are very promising. American-Eurasian Network for Scientific Information, Jordan 2009 Article PeerReviewed Yahya, Samer and Mohamed, Haider A.F. and Moghavvemi, Mahmoud (2009) A geometrical motion planning approach for redundant planar manipulators. Australian Journal of Basic and Applied Sciences, 3 (4). pp. 3757-3770. ISSN 1991-8178, http://www.ajbasweb.com/old/ajbas/2009/3757-3770.pdf |
| spellingShingle | TA Engineering (General). Civil engineering (General) Yahya, Samer Mohamed, Haider A.F. Moghavvemi, Mahmoud A geometrical motion planning approach for redundant planar manipulators |
| title | A geometrical motion planning approach for redundant planar manipulators |
| title_full | A geometrical motion planning approach for redundant planar manipulators |
| title_fullStr | A geometrical motion planning approach for redundant planar manipulators |
| title_full_unstemmed | A geometrical motion planning approach for redundant planar manipulators |
| title_short | A geometrical motion planning approach for redundant planar manipulators |
| title_sort | geometrical motion planning approach for redundant planar manipulators |
| topic | TA Engineering (General). Civil engineering (General) |
| work_keys_str_mv | AT yahyasamer ageometricalmotionplanningapproachforredundantplanarmanipulators AT mohamedhaideraf ageometricalmotionplanningapproachforredundantplanarmanipulators AT moghavvemimahmoud ageometricalmotionplanningapproachforredundantplanarmanipulators AT yahyasamer geometricalmotionplanningapproachforredundantplanarmanipulators AT mohamedhaideraf geometricalmotionplanningapproachforredundantplanarmanipulators AT moghavvemimahmoud geometricalmotionplanningapproachforredundantplanarmanipulators |