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- W3132320105 abstract "Abstract The conservative motion of a redundant manipulator has been a subject of research for many years. Up to the present time, a method which guarantees conservative motion for a redundant manipulator tracing an arbitrary trajectory has not been presented. Moreover, the implementation of any conservative motion trajectory planning in discrete time domain has not been adequately addressed. In this paper, a trajectory planning method which guarantees conservative motion and preserves minimum norm of joint rates for a redundant manipulator tracing a closed-loop trajectory is presented. This method includes two intermediate via points in each incremental movement so that the manipulator can precisely pass through, with constant joint accelerations, all incremental positions with minimum jerks. The tracking errors exist only at the via points but not at the incremental points. Thus, conservative motion is ensured. The overall tracking errors can be reduced by simply selecting a smaller increment. The presented method is simulated with a three-linked, planar redundant manipulator and the results are discussed." @default.
- W3132320105 created "2021-03-01" @default.
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- W3132320105 date "1998-09-13" @default.
- W3132320105 modified "2023-09-26" @default.
- W3132320105 title "A Note on Trajectory Planning for Conservative Motion of Redundant Manipulators" @default.
- W3132320105 doi "https://doi.org/10.1115/detc98/mech-5990" @default.
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