METHOD FOR PLANNING THE OPTIMAL TRAJECTORY OF A THREE-LINK MANIPULATOR IN TRIDIMENSIONAL SPACE WITH AN OBSTACLE

METHOD FOR PLANNING THE OPTIMAL TRAJECTORY OF A THREE-LINK MANIPULATOR IN TRIDIMENSIONAL SPACE WITH AN OBSTACLE

Objectives. The method for planning the optimal trajectory of a three-link manipulator with 7 degrees of mobility in a tridimensional space containing an obstacle specified by an array of points of three-dimensional space and represented in the form of a sphere is considered in the article. A litera...

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Bibliographic Details
Main Authors: V. O. Antonov, M. M. Gurchinsky, V. I. Petrenko, F. B. Tebueva
Format: Article
Language:Russian
Published: Dagestan State Technical University 2018-06-01
Series:Вестник Дагестанского государственного технического университета: Технические науки
Subjects:
anthropomorphic manipulator
euler angles
trajectory planning of manipulator movement
piecewise linear approximation
obstacle bypass by manipulator
minimisation of energy consumption
three-link manipulator
Online Access:https://vestnik.dgtu.ru/jour/article/view/496
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