Planning of manipulator joint trajectories by an iterative method

Motoji Yamamoto, H. Ozaki, A. Mohri

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

Manipulator joint trajectories are planned to make an arbitrary cost function as good as possible in consideration of physical constraints based on kinematics and dynamics of a manipulator system. An algorithm presented in this paper is an iteratively improving method using the local controllability of B spline. It can be also applied to the case that some points are specified and joint trajectories must pass through those points. This algorithm is applied to an example of trajectory planning of a manipulator with two links and two degrees of freedom.

Original languageEnglish
Pages (from-to)101-105
Number of pages5
JournalRobotica
Volume6
Issue number2
DOIs
Publication statusPublished - Jan 1 1988

Fingerprint

Manipulator
Iterative methods
Manipulators
Trajectories
Planning
Trajectory
Iteration
Local Controllability
Trajectory Planning
B-spline
Controllability
Cost functions
Splines
Cost Function
Kinematics
Degree of freedom
Arbitrary

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

Cite this

Planning of manipulator joint trajectories by an iterative method. / Yamamoto, Motoji; Ozaki, H.; Mohri, A.

In: Robotica, Vol. 6, No. 2, 01.01.1988, p. 101-105.

Research output: Contribution to journalArticle

Yamamoto, Motoji ; Ozaki, H. ; Mohri, A. / Planning of manipulator joint trajectories by an iterative method. In: Robotica. 1988 ; Vol. 6, No. 2. pp. 101-105.
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