Manipulability optimization for trajectory generation

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 10 Jul 2006Publisher:IEEEJournal:Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

Authors: Luis Guilamo; James J. Kuffner Jr.; Koichi Nishiwaki; Satoshi Kagami;

doi: 10.1109/robot.2006.1642001

Manipulability optimization for trajectory generation

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Abstract

In this paper, we present an algorithm for manipulability based trajectory generation for any serial manipulator that has an inverse kinematic model that can obtain all solutions. Our strategy is a search based approach that analyzes candidate configurations at discrete points along the work-space trajectory. Given such a model we prove the configuration-space trajectories generated are optimal within the limit of the discretization of the work-space trajectory

Related Organizations

Carnegie Mellon University
United States
National Institute of Advanced Industrial Science and Technology
Japan

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