Dual-well potential field function for articulated manipulator trajectory planning

A new attractive potential field function is proposed in this paper for manipulator trajectory planning. Existing attractive potential field constructs a global minimum through which maneuvering objects move down the gradient of the potential field toward this global minimum. The proposed method con...

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Bibliographic Details
Main Author:	Ahmed Badawy
Format:	Article
Language:	English
Published:	Elsevier 2016-06-01
Series:	Alexandria Engineering Journal
Subjects:	Artificial potential field Articulated robot Trajectory planning
Online Access:	http://www.sciencedirect.com/science/article/pii/S1110016816300679

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spelling	doaj-02a4f4467d374a7283f5538aa2af27e62021-06-02T04:19:01ZengElsevierAlexandria Engineering Journal1110-01682016-06-015521235124110.1016/j.aej.2016.03.042Dual-well potential field function for articulated manipulator trajectory planningAhmed BadawyA new attractive potential field function is proposed in this paper for manipulator trajectory planning. Existing attractive potential field constructs a global minimum through which maneuvering objects move down the gradient of the potential field toward this global minimum. The proposed method constructs a potential field with two minima. The purpose of these two minima is to create a dual attraction between links rather than affecting each link by the preceding one through kinematic constraints.http://www.sciencedirect.com/science/article/pii/S1110016816300679Artificial potential fieldArticulated robotTrajectory planning
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Ahmed Badawy
spellingShingle	Ahmed Badawy Dual-well potential field function for articulated manipulator trajectory planning Alexandria Engineering Journal Artificial potential field Articulated robot Trajectory planning
author_facet	Ahmed Badawy
author_sort	Ahmed Badawy
title	Dual-well potential field function for articulated manipulator trajectory planning
title_short	Dual-well potential field function for articulated manipulator trajectory planning
title_full	Dual-well potential field function for articulated manipulator trajectory planning
title_fullStr	Dual-well potential field function for articulated manipulator trajectory planning
title_full_unstemmed	Dual-well potential field function for articulated manipulator trajectory planning
title_sort	dual-well potential field function for articulated manipulator trajectory planning
publisher	Elsevier
series	Alexandria Engineering Journal
issn	1110-0168
publishDate	2016-06-01
description	A new attractive potential field function is proposed in this paper for manipulator trajectory planning. Existing attractive potential field constructs a global minimum through which maneuvering objects move down the gradient of the potential field toward this global minimum. The proposed method constructs a potential field with two minima. The purpose of these two minima is to create a dual attraction between links rather than affecting each link by the preceding one through kinematic constraints.
topic	Artificial potential field Articulated robot Trajectory planning
url	http://www.sciencedirect.com/science/article/pii/S1110016816300679
work_keys_str_mv	AT ahmedbadawy dualwellpotentialfieldfunctionforarticulatedmanipulatortrajectoryplanning
_version_	1721408525338411008

Dual-well potential field function for articulated manipulator trajectory planning

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