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《Journal of Beijing University of Posts and Telecommunications》 2008-02
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Research on the Optimal Algorithm for Trajectory Planning of a 9-DOF Hyper-Redundant Robot

JIA Qing-xuan,CHU Ming,SUN Han-xu,HONG Lei(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China)  
Aimed at 9-degree of freedom(DOF) hyper-redundant module robot in intra-vehicular robot system,attention is given to the avoiding joint limits as an optimal mark.Two different iterative algorithms considering fault-tolerance for trajectory planning of redundant robot in Cartesian space are then proposed by using the method of differential locomotion.The first algorithm is for linear-path in which the pose of manipulator can be changed,the second is for circular-path in the plane decided by three noncollinear arbitrary points in the space.Experiments on the specimen robot platform are performed to validate the above algorithms.And the hyper-redundant robot's actions,such as pulling drawers,grapping club-shaped stuff along linear-path and opening doors along circular-path are realized.
【Fund】: 国家“863计划”项目(2004AA74101);; 教育部科学技术研究重大项目(307005)
【CateGory Index】: TP242
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