COLLISION-FREE OPTIMAL MOTION AND TRAJECTORY PLANNING FOR ROBOTIC MANIPULATORS ARE SOLVED BY A METHOD OF SEQUENTIAL GRADIENT RESTORATION ALGORITHM. NUMERICAL EXAMPLES OF A TWO DEGREE-OF-FREEDOM (DOF) ROBOTIC MANIPULATOR ARE DEMONSTRATED TO SHOW THE EXCELLENCE OF THE OPTIMIZATION TECHNIQUE AND OBSTACLE AVOIDANCE SCHEME. THE OBSTACLE IS PUT ON THE MIDWAY, OR EVEN FURTHER INWARD ON PURPOSE, OF THE PREVIOUS NO-OBSTACLE OPTIMAL TRAJECTORY. FOR THE MINIMUM-TIME PURPOSE, THE TRAJECTORY GRAZES BY THE OBSTACLE AND THE MINIMUM-TIME MOTION SUCCESSFULLY AVOIDS THE OBSTACLE. THE MINIMUM-TIME IS LONGER FOR THE OBSTACLE AVOIDANCE CASES THAN THE ONE WITHOUT OBSTACLE. THE OBSTACLES AVOIDANCE SCHEME CAN DEAL WITH MULTIPLE OBSTACLES IN ANY ELLIPSOID FORMS BY USING ARTIFICIAL POTENTIAL FIELDS AS PENALTY FUNCTIONS VIA DISTANCE FUNCTIONS. THE METHOD IS PROMISING IN SOLVING COLLISION-FREE OPTIMAL CONTROL PROB
| Number of Pages : | 35 |
| Published : | 06/01/1990 |
