Optimal Polynomial Trajectories for Robot Manipulators

Abstract

The planning of optimal trajectories for manipulators along a given path is discussed. The problem is formulated as an optimal control problem. The trajectories for each joint are described by piecewise polynomials splined at prescribed knot points. This reduces the function-space optimization problem to a finite dimensional mathematical programming problem. The order of the polynomial strongly influences the final solution and both quadratic and cubic splines are discussed. Some simulation results are presented.

Meeting Name

USA/Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Control Systems; Optimal; Kinematics - Mathematical Programming; Dynamic; Mathematical Tecniques-Polynomials; Robotics

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1988 American Society of Mechanical Engineers (ASME), All rights reserved.

Publication Date

01 Jan 1988

This document is currently not available here.

Share

 
COinS