Abstract

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.

Meeting Name

1990 IEEE International Conference on Robotics and Automation, 1990

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Cell Mapping; Manipulators; Optimisation; Path Planning; Planning (Artificial Intelligence); Robots; Trajectory Planning

Document Type

Article - Conference proceedings

Document Version

Final Version

File Type

text

Language(s)

English

Rights

© 1990 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

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