We describe a methodology to plan the trajectories of a robotic manipulator moving in an n-dimensional Euclidean space. The robot has to reach the target avoiding obstacles and is constrained to move in a region of the space. We show that if the positions of the target and of the obstacles are known a priori then a Hamiltonian function can be constructed and used to define a collision-free trajectory. A simulation concerning a real three-d.o.f. manipulator is reported. © 2013 IEEE.
Application of Hamiltonian dynamics to manipulator control in constrained workspace
CASAGRANDE, Daniele;
2013-01-01
Abstract
We describe a methodology to plan the trajectories of a robotic manipulator moving in an n-dimensional Euclidean space. The robot has to reach the target avoiding obstacles and is constrained to move in a region of the space. We show that if the positions of the target and of the obstacles are known a priori then a Hamiltonian function can be constructed and used to define a collision-free trajectory. A simulation concerning a real three-d.o.f. manipulator is reported. © 2013 IEEE.File in questo prodotto:
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