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    An on-line path planner for industrial manipulators

    Access Status
    Open access via publisher
    Authors
    Padula, Fabrizio
    Perdereau, V.
    Date
    2013
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Padula, F. and Perdereau, V. 2013. An on-line path planner for industrial manipulators. International Journal of Advanced Robotic Systems. 10.
    Source Title
    International Journal of Advanced Robotic Systems
    DOI
    10.5772/55063
    ISSN
    1729-8806
    School
    Department of Mathematics and Statistics
    URI
    http://hdl.handle.net/20.500.11937/52429
    Collection
    • Curtin Research Publications
    Abstract

    In this paper, an on-line path planner for an industrial manipulator is presented. The proposed control architecture is capable of driving the manipulator in its environment while avoiding collisions. Potential fields are used in order to control the joint velocities in such a way that the robot avoids the obstacles. We also propose a new weighted pseudoinverse matrix that improves the manipulator capability of finding feasible paths to move around obstacles and pass through narrow corridors without relying on the manipulator dynamic model. The proposed technique fits to both redundant and non-redundant manipulators. Experimental results show the effectiveness of the proposed solution. © 2013 Padula and Perdereau; licensee InTech.

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