TRAJECTORY PLANNING IN JOINT SPACE FOR MECHANICAL MANIPULATORS

被引：4
|
作者：
TSAI, KY
KOHLI, D
ARNOLD, J
机构：
[1] Department of Mechanical Engineering, University of Wisconsin, Milwaukee, WI
[2] Department of Mathematics, University of Wisconsin, Milwaukee, WI
[3] National Taiwan Institute of Technology, Taipei
来源：
JOURNAL OF MECHANICAL DESIGN | 1993年 / 115卷 / 04期
关键词：
D O I：
10.1115/1.2919286
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, we present a no vel method of mapping the task space onto the joint space. This map divides the joint space into patches (disjointed regions) and an n ways accessible region in the task space is exactly covered by n patches. This mapping allows one to predict the task space paths corresponding to the joint space paths without solving inverse kinematics along the path. The map is then utilized for joint space planning. Numerical examples are presented for illustration.
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页码：909 / 914
页数：6
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