Criteria optimization using self‐motion of a 9‐R redundant robot

1 June 1989

journal article
research article
Published by Wiley in Journal of Robotic Systems

Vol. 6 (3) , 255-267
https://doi.org/10.1002/rob.4620060305

Abstract

Using inverse kinematic solutions forself‐motionof a class of 9‐R redundant robots, a conjugate‐gradient based constrained optimization scheme for incremental trajectory planning is formulated. The proposed scheme has been evaluated and proved to be an efficient optimization method for redundancy utilization. It can also be used for studying 7‐R and 8‐R manipulators by simply restricting to one‐variable and two‐variable optimization, respectively. In contrast with other approaches which are based on the Jacobian, our scheme exploits the availability ofclosed‐forminverse kinematic solutions to give more effective and accurate results.

Keywords

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