A cell-mapping method is introduced for planning global trajectories of robotic manipulators in cases where the cell space is composed of combination pairs of plane cells. With the proposed method, optimal trajectory problems in the free field and in the obstacle-constrained field are studied. Two numerical examples are given to show the obtained optimal trajectories and controls.
W. H. Zhu and M. Leu, "Planning Optimal Robot Trajectories by Cell Mapping," Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990, Institute of Electrical and Electronics Engineers (IEEE), Jan 1990.
The definitive version is available at http://dx.doi.org/10.1109/ROBOT.1990.126259
1990 IEEE International Conference on Robotics and Automation, 1990
Mechanical and Aerospace Engineering
Keywords and Phrases
Cell Mapping; Manipulators; Optimisation; Path Planning; Planning (Artificial Intelligence); Robots; Trajectory Planning
Article - Conference proceedings
© 1990 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.