Load-effective dynamic motion planning for redundant manipulators

Joo H. Kim, Jingzhou Yang, Karim Abdel-Malek

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The robotic motion planning criteria has evolved from kinematics to dynamics in recent years. Many research achievements have been made in dynamic motion planning, but the externally applied loads are usually limited to the gravity force. Due to the increasing demand for generic tasks, the motion should be generated for various functions such as pulling, pushing, twisting, and bending. In this presentation, a comprehensive form of equations of motion, which includes the general external loads applied at any points of the system, is derived and implemented. An optimization-based algorithm is then developed to generate load-effective motions of redundant manipulators (single-loop and tree-structured chains) that guarantee the execution of the generic tasks under limited actuator capacities. It is shown that if the external loads are not incorporated in the motion planning formulation, then the generated motions do not always guarantee the execution of the task, especially when a large load is desired. By using our algorithm, the load-effective motions can be found that are executable for given external loads. The proposed method is also applicable in predicting realistic dynamic human motions. Some dual-arm human tasks are simulated to show different motions to sustain different amounts of external loads. Our formulation for general external loads will further advance the current motion planning methods for redundant manipulators.

Original languageEnglish (US)
Title of host publication2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Pages1151-1164
Number of pages14
DOIs
StatePublished - 2008
Event31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, United States
Duration: Sep 4 2007Sep 7 2007

Publication series

Name2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Volume8 PART B

Other

Other31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
CountryUnited States
CityLas Vegas, NV
Period9/4/079/7/07

Keywords

  • Equation of motion
  • General external load
  • Load-effective motion
  • Motion planning
  • Optimization
  • Redundant manipulator

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Mechanical Engineering
  • Modeling and Simulation

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  • Cite this

    Kim, J. H., Yang, J., & Abdel-Malek, K. (2008). Load-effective dynamic motion planning for redundant manipulators. In 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007 (pp. 1151-1164). (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007; Vol. 8 PART B). https://doi.org/10.1115/DETC2007-35393