Hiroki Miura, G. Obinata, Atsushi Nakayama, K. Hase, M. Sasaki, T. Iwami, H. Doki
{"title":"基于任务的冗余机械手轨迹规划方法及其在轮椅推进中的应用","authors":"Hiroki Miura, G. Obinata, Atsushi Nakayama, K. Hase, M. Sasaki, T. Iwami, H. Doki","doi":"10.1109/RAMECH.2004.1438013","DOIUrl":null,"url":null,"abstract":"We introduce an optimization method for the trajectory planning of redundant manipulators which achieve a given task with high efficiency, and apply the method to a wheelchair propulsion problem. A GA is used to optimize the redundant variables of a manipulator. Additionally, the procedure of the method does not use any forward dynamics computation. The effectiveness of the proposed algorithm has been shown by applying the method to wheelchair propulsion.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"87 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"Task based approach on trajectory planning with redundant manipulators, and its application to wheelchair propulsion\",\"authors\":\"Hiroki Miura, G. Obinata, Atsushi Nakayama, K. Hase, M. Sasaki, T. Iwami, H. Doki\",\"doi\":\"10.1109/RAMECH.2004.1438013\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We introduce an optimization method for the trajectory planning of redundant manipulators which achieve a given task with high efficiency, and apply the method to a wheelchair propulsion problem. A GA is used to optimize the redundant variables of a manipulator. Additionally, the procedure of the method does not use any forward dynamics computation. The effectiveness of the proposed algorithm has been shown by applying the method to wheelchair propulsion.\",\"PeriodicalId\":252964,\"journal\":{\"name\":\"IEEE Conference on Robotics, Automation and Mechatronics, 2004.\",\"volume\":\"87 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2004-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Conference on Robotics, Automation and Mechatronics, 2004.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAMECH.2004.1438013\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAMECH.2004.1438013","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Task based approach on trajectory planning with redundant manipulators, and its application to wheelchair propulsion
We introduce an optimization method for the trajectory planning of redundant manipulators which achieve a given task with high efficiency, and apply the method to a wheelchair propulsion problem. A GA is used to optimize the redundant variables of a manipulator. Additionally, the procedure of the method does not use any forward dynamics computation. The effectiveness of the proposed algorithm has been shown by applying the method to wheelchair propulsion.
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