Planning Optimal Robot Trajectories by Cell Mapping

W. H. Zhu
Ming-Chuan Leu, Missouri University of Science and Technology

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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.