Implementing Redundancy-Resolution Algorithms in a Typical Industrial Robot

This paper presents a system to develop and test algorithms for kinematic redundancy resolution of manipulators. Unlike most previous work on this subject, the computed trajectory is not only being simulated at each step, but also runs on-line on the robot. Furthermore, the system has the ability to...

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Bibliographic Details
Published inRevista IEEE América Latina Vol. 12; no. 7; pp. 1228 - 1233
Main Authors Cartelli, Carlos, Anigtein, Mauricio
Format Journal Article
LanguageEnglish
Published Los Alamitos IEEE 01.10.2014
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Algorithms
Computer simulation
Jacobian matrices
kinematic redundancy
Kinematics
Laboratories
Manipulators
MATLAB
obstacle avoidance
On-line systems
Redundancy
redundant manipulators
Robot arms
Robots
Service robots
task priority
Vectors
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ISSN1548-0992
1548-0992
DOI10.1109/TLA.2014.6948857

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Summary:This paper presents a system to develop and test algorithms for kinematic redundancy resolution of manipulators. Unlike most previous work on this subject, the computed trajectory is not only being simulated at each step, but also runs on-line on the robot. Furthermore, the system has the ability to simultaneously record the actual movement of each test. With this new hardware-in-the-loop system, researchers can easily analyze, evaluate and compare algorithms for redundancy resolution in a typical industrial manipulator.
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ISSN:1548-0992
1548-0992
DOI:10.1109/TLA.2014.6948857