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Proceedings Paper

Robust approach for the path planning of redundant telemanipulators
Author(s): Rene V. Mayorga; Kuo-sheng Ma; Andrew K. C. Wong
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Paper Abstract

In this article an on-line procedure for the robust path planning of telemanipulators is presented. The approach is based on solving a linear system of equations which incorporate an original scheme for the appropriate perturbation of the pseudoinverse matrix, and a null space vector for obstacle avoidance. This method allows to pursue simultaneously both obstacle avoidance and singularities prevention in real time in a sensor based environment. These properties make it suitable for fully autonomous or telerobotic systems operations.

Paper Details

Date Published: 26 March 1993
PDF: 11 pages
Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142097
Show Author Affiliations
Rene V. Mayorga, Univ. of Waterloo (Canada)
Kuo-sheng Ma, Univ. of Waterloo (Canada)
Andrew K. C. Wong, Univ. of Waterloo (Canada)


Published in SPIE Proceedings Vol. 1833:
Telemanipulator Technology
Hari Das, Editor(s)

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