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ORIGINAL PAPER
Trajectory Planning of the Humanoid Manipulator
C. Kacprzak 1
,
 
G. Pająk 1
 
 
 
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University of Zielona Góra, Institute of Mechanical Engineering and Machine Operation, Licealna 9, 65-417, Zielona Góra, Poland
 
 
Online publication date: 2019-08-09
 
 
Publication date: 2019-09-01
 
 
International Journal of Applied Mechanics and Engineering 2019;24(3):591-602
DOI: https://doi.org/10.2478/ijame-2019-0037
 
 
Article (PDF)
References (16)
 
KEYWORDS
humanoid manipulator
redundancy resolution
collision avoidance
manipulability measure
 
ABSTRACT
The paper presents a method of planning a collision-free trajectory for a humanoid manipulator mounted on a rail system. The task of the robot is to move its end-effectors from the current position to the given final location in the workspace. The method is based on a redundancy resolution at the velocity level. In addition to this primary task, secondary objectives are also taken into account. The motion of the robot is planned in order to maximize a manipulability measure in purpose of avoiding manipulator singularities. State inequality constraints resulting from collision avoidance conditions are also considered. A computer example involving a humanoid manipulator operating in a three dimensional task space is also presented.
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