Manipulability Optimization for Trajectory Generation

Abstract— In this paper, we present an algorithm for manipulability based trajectory generation for any serial manipulator that has an inverse kinematic model that can obtain all solutions. Our strategy is a search-based approach that analyzes candidate configurations at discrete points along the workspace trajectory. Given such a model we prove the configuration space trajectories generated by our method are optimal within the limit of the discretization of the workspace trajectory.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Luis Guilamo, James J. Kuffner Jr., Koichi Nishiwaki, Satoshi Kagami
• Keywords: ICRA 2006, Inverse Kinematic Model, Robotics, Trajectory Generation, Workspace Trajectory