Geodesic Approach for Trajectory Planning of Mobile Robot Manipulators

被引:0
作者
Sahu, Pradip Kumar [1 ]
Khamari, Bijaya Kumar [1 ]
Balabantaray, Bunil Kumar [2 ]
Biswal, Bibhuti Bhusan [2 ]
Panda, Surya Narayan [3 ]
机构
[1] Natl Inst Technol Rourkela, Rourkela, Odisha, India
[2] Natl Inst Technol, Shillong, Meghalaya, India
[3] Birsa Inst Technol, Dhanbad, Bihar, India
来源
ADVANCES IN MECHANICAL ENGINEERING, ICRIDME 2018 | 2020年
关键词
Mobile robot; Trajectory planning; Homogeneous transformation; Geodesic method; Motion analysis;
D O I
10.1007/978-981-15-0124-1_133
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
This research article offers an efficient trajectory planning approach by employing geodesic to attain a smooth and accurate trajectory for a mobile robot link mechanism. Geodesic is defined as the shortest curve joining any two loci on a Riemannian manifold. The workspace of the manipulator has been assigned with a Riemannian metric so as to achieve geodesic settings for the planned end-effector motion. The jointDH parameters for joint trajectories are chosen as local coordinates of the workspace to represent Cartesian trajectories. Boundary conditions of the trajectory are considered in order to get the geodesic equations for the Riemannian metric space. The results of the geodesic computations have been plotted in graphical form. A simple three degrees of freedom spatial manipulator fixed upon the mobile robot platform has been considered for numerical computations to validate the efficacy of the geodesic technique.
引用
收藏
页码:1521 / 1531
页数:11
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