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

H. Ozaki, M. Yamamoto, A. Mohri

研究成果: Contribution to journalConference article査読

3 被引用数 (Scopus)

抄録

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.

本文言語英語
ページ(範囲)1029-1034
ページ数6
ジャーナルProceedings of the IEEE Conference on Decision and Control
出版ステータス出版済み - 1987
外部発表はい

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 制御と最適化

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