OPTIMAL AND NEAR-OPTIMAL MANIPULATOR JOINT TRAJECTORIES WITH A PREPLANNED PATH.

H. Ozaki, M. Yamamoto, A. Mohri

Research output: Contribution to journalConference article

3 Citations (Scopus)

Abstract

Manipulator joint trajectories are sought to optimize a specified cost function under preplanned path constraints, taking into consideration the physical constraints on the kinematics and dynamics of the system. Using a time-scale factor kappa (t) and a set of joint trajectories representing a geometric path, all joint trajectories tracing the path are described as a function of kappa (t) and its time derivative. Then the desirable kappa (t) is obtained by two methods: a global optimization method using dynamic programming (DP), and an iteratively improving (II) method, which is a feasible method and utilizes the local controllability of B-splines. These methods are applied to joint trajectory planning of a preplanned collision-free path of a manipulator. The numerical results show that the II method is more effective than the DP method with respect to computation time and memory requirements if a strictly optimal solution is not required.

Original languageEnglish
Pages (from-to)1029-1034
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Publication statusPublished - Dec 1 1987
Externally publishedYes

Fingerprint

Manipulator
Manipulators
trajectory
Trajectories
Trajectory
Path
Dynamic programming
Dynamic Programming
Global optimization
Controllability
Cost functions
Splines
Local Controllability
Trajectory Planning
Kinematics
Scale factor
B-spline
Tracing
Derivatives
Data storage equipment

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

OPTIMAL AND NEAR-OPTIMAL MANIPULATOR JOINT TRAJECTORIES WITH A PREPLANNED PATH. / Ozaki, H.; Yamamoto, M.; Mohri, A.

In: Proceedings of the IEEE Conference on Decision and Control, 01.12.1987, p. 1029-1034.

Research output: Contribution to journalConference article

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