Volume 4, Issue 12 (December 2017), Pages: 1-4

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 Original Research Paper

 Title:  Trajectory optimization for redundant/hyper redundant manipulators

 Author(s):  Kagan Koray Ayten *, Ahmet Dumlu

 Affiliation(s):

 Department of Electrical & Electronics Engineering, College of Engineering, Erzurum Technical University, Erzurum, Turkey

 https://doi.org/10.21833/ijaas.2017.012.001

 Full Text - PDF          XML

 Abstract:

This paper presents an optimization technique to generate minimum energy consumption trajectories for redundant/hyper-redundant manipulators with constraint conditions. Two novel methods are combined for trajectory optimization technique. In the first method, the system's constraints are handled in a sequential manner within the cost function in order to avoid running the inverse dynamics when the system’s constraints are not satisfied. In the second method, a novel virtual link concept is introduced to replace all the redundant links of the redundant/hyper-redundant manipulators. The method is verified on a three-degree-of-freedom redundant manipulator and the result is also demonstrated with computer simulations based on an 8-link planar hyper-redundant manipulator. 

 © 2017 The Authors. Published by IASE.

 This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

 Keywords: Trajectory planning, Energy minimization, Constraint handling, Cost function, Hyper-redundant manipulators, Redundant manipulator

 Article History: Received 28 February 2017, Received in revised form 17 September 2017, Accepted 21 September 2017

 Digital Object Identifier: 

 https://doi.org/10.21833/ijaas.2017.012.001

 Citation:

 Ayten K and Dumlu A (2017). Trajectory optimization for redundant/hyper redundant manipulators. International Journal of Advanced and Applied Sciences, 4(12): 1-4

 Permanent Link:

 http://www.science-gate.com/IJAAS/V4I12/Ayten.html

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