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| A MOTION PLANNING METHOD FOR VISUAL SERVO REDUNDANT ROBOTS BASED ON THE VECTOR ANALYSIS |
| LUO Xiang1, SHEN Jie2, YAN Jing-ping1 |
1. Southeast University, Nanjing 210018;
2. 28th Institute of Info. Indu.Dept Nanjing 210014 |
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Abstract In this paper, a rule of motion planning for visual servo redundant robots is developed. According to the fact that most industrial manipulators hav e a spherical gripper which has 3 revolving DOF with their axes converge at one point, the paper split the motion planning task into two parts. In one hand, the manipulator positioning is achieved by decomposing the track velocity vector in joint space with minimal least square method. In the other hand, the pose of gr ipper is planned by a recurrence formula of Euler angle. This rule is a executi ng level one for visual servo redundant robots. It has a clear physical interpre tation and a smaller value of computing then a typical one. Further more, it has a limited robust quality of kinematics. A simulation of 8R manipulator is also presented in this paper.
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Received: 18 September 1999
Published: 15 July 2000
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