1985/09/01 by Anthony A. Maciejewski, Charles A. Klein · 1 citation
Engineering · Computer Science · #Robotic Mechanisms and Dynamics #Robotic Path Planning Algorithms #Robot Manipulation and Learning #Obstacle avoidance #Obstacle #Context (archaeology) #Computer science #Robot end effector #Task (project management) #Trajectory #Control theory (sociology) #Degrees of freedom (physics and chemistry) #Component (thermodynamics) #Artificial intelligence #Robot #Control engineering #Control (management) #Mobile robot #Engineering
paper · doi:10.1177/027836498500400308
openalex publication_date 1985/09/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/29
The vast majority of work to date concerned with obstacle avoidance for manipulators has dealt with task descriptions in the form ofpick-and-place movements. The added flexibil ity in motion control for manipulators possessing redundant degrees offreedom permits the consideration of obstacle avoidance in the context of a specified end-effector trajectory as the task description. Such a task definition is a more accurate model for such tasks as spray painting or arc weld ing. The approach presented here is to determine the re quired joint angle rates for the manipulator under the con straints of multiple goals, the primary goal described by the specified end-effector trajectory and secondary goals describ ing the obstacle avoidance criteria. The decomposition of the solution into a particular and a homogeneous component effectively illustrates the priority of the multiple goals that is exact end-effector control with redundant degrees of freedom maximizing the distance to obstacles. An efficient numerical implementation of the technique permits sufficiently fast cycle times to deal with dynamic environments.