Comparison of Methods for Trajectory Tracking for Redundant Robot Manipulators Under a Holonomic Scleronomic Constraint

Felipe Figueiredo Cardoso¹; Fernando Cesar Lizarralde²

¹ PETROBRAS; ² Universidade Federal do Rio de Janeiro

Baixar PDF doi:10.20906/CPS/CBA2018-1098

Resumo

This paper presents a comparison among two methods used for trajectory tracking: kinematic control and optimization problem via sequential quadratic programming. The end-effector of a redundant serial robot manipulator must track a desired trajectory while a point of this chain is subject to a holonomic scleronomic constraint. In addition two manipulability indices are take into account, the first refers to the Jacobian before the constraint and the second refers to the constrained Jacobian. Experiments are performed in a Baxter robot.

Palavras-chave: manipulability; trajectory tracking; holonomic constraint