Aplicación de algoritmos de resolución de redundancia sobre un robot industrial (Implementing Redundancy-Resolution Algorithms in a Typical Industrial Robot)

Carlos Cartelli (cjcartelli@yahoo.com), Mauricio Anigtein ()


Laboratorio de Robótica, Facultad de Ingeniería, Universidad de Buenos Aires
This paper appears in: Revista IEEE América Latina

Publication Date: Oct. 2014
Volume: 12,   Issue: 7 
ISSN: 1548-0992


Abstract:
This paper presents a system to develop and test algorithms for kinematic redundancy resolution of manipulators. Unlike most previous work on this subject, the computed trajectory is not only being simulated at each step, but also runs on-line on the robot. Furthermore, the system has the ability to simultaneously record the actual movement of each test. With this new hardware-in-the-loop system, researchers can easily analyze, evaluate and compare algorithms for redundancy resolution in a typical industrial manipulator.

Index Terms:
redundant manipulators, kinematic redundancy, task priority, obstacle avoidance   


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