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Online Trajectory Planning for a PUMA Robot  

Kang, Chul-Goo (School of Mechanical Engineering, Konkuk University)
Publication Information
International Journal of Precision Engineering and Manufacturing / v.8, no.4, 2007 , pp. 16-21 More about this Journal
Abstract
Robotic applications, such as automatic fish cutting, require online trajectory planning because the material properties of the object, such as the bone or flesh conditions, are not known in advance. Different trajectories are required when the material properties vary. An effective online trajectory-planning algorithm is proposed using quaternions to determine the position and orientation of a robot manipulator with a spherical wrist. Quaternions are free of representation singularities and permit computationally efficient orientation interpolations. To prevent singular configurations, the exact locations of the kinematic singularities of the PUMA 560 manipulator are derived and geometrically illustrated when a forearm offset exists and the third link length is not zero.
Keywords
Trajectory planning; Orientation; Quaternion; Kinematic singularity; PUMA robot;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
Times Cited By Web Of Science : 5  (Related Records In Web of Science)
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