Trajectory Planning in Joint Space for Mechanical Manipulators

[+] Author and Article Information
K. Y. Tsai, D. Kohli

Department of Mechanical Engineering, University of Wisconsin, Milwaukee, WI 53201

J. Arnold

Department of Mathematics, University of Wisconsin, Milwaukee, WI 53201

J. Mech. Des 115(4), 909-914 (Dec 01, 1993) (6 pages) doi:10.1115/1.2919286 History: Received February 01, 1991; Online June 02, 2008


In this paper, we present a novel 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.

Copyright © 1993 by The American Society of Mechanical Engineers
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