Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1993.10a
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- Pages.593-597
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- 1993
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- 2005-8446(pISSN)
Robust Trajectory Planner for Obstacle and Singularity Avoisnce in a Robot Manipulator
장애물과 특이점의 회피를 위한 강인한 로봇의 궤적계획
- Leem, N. I. (Pusan National Fisheries Univ) ;
- Ahn, D. S. (Pusan National Fisheries Univ) ;
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Son, K.
(Pusan National Univ)
- Published : 1993.10.01
Abstract
This paper introduces robust trajectory planner for obstacle and singularity avoidance in a nonresonant robot manipulator. In this work, we propose new trajectory generator in cartesian space by use of Bezier function. Also, SR-inverse is used for obstacle and singularity avoidance of nonredundant robot. This result is verified with 3-D simulator which has been developed to examine the effectiveness of the suggested method.
Keywords