Robust approach for the path planning of redundant telemanipulators

Rene V. Mayorga; Kuo-sheng Ma; Andrew K. C. Wong

doi:10.1117/12.142097

26 March 1993 Robust approach for the path planning of redundant telemanipulators

Rene V. Mayorga, Kuo-sheng Ma, Andrew K. C. Wong

Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142097
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

In this article an on-line procedure for the robust path planning of telemanipulators is presented. The approach is based on solving a linear system of equations which incorporate an original scheme for the appropriate perturbation of the pseudoinverse matrix, and a null space vector for obstacle avoidance. This method allows to pursue simultaneously both obstacle avoidance and singularities prevention in real time in a sensor based environment. These properties make it suitable for fully autonomous or telerobotic systems operations.

Citation Download Citation

Rene V. Mayorga, Kuo-sheng Ma, and Andrew K. C. Wong "Robust approach for the path planning of redundant telemanipulators", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142097

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