We describe a methodology to plan the trajectory of a robotic manipulator moving in an n-dimensional Euclidean space. The robot has to reach a target avoiding obstacles and is allowed to move in a constrained space. We show that if the position of the target and of the obstacles in known a priori, then a Hamiltonian function can be constructed and used to define the trajectory. A simulation concerning a real three-dimensional manipulator is finally reported.
Application of Hamiltonian dynamics to manipulator control in constrained workspace
FENU, GIANFRANCO;PELLEGRINO, FELICE ANDREA;
2013-01-01
Abstract
We describe a methodology to plan the trajectory of a robotic manipulator moving in an n-dimensional Euclidean space. The robot has to reach a target avoiding obstacles and is allowed to move in a constrained space. We show that if the position of the target and of the obstacles in known a priori, then a Hamiltonian function can be constructed and used to define the trajectory. A simulation concerning a real three-dimensional manipulator is finally reported.File in questo prodotto:
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