Optimal Polynomial Trajectories for Robot Manipulators
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.
S. K. Singh and M. Leu, "Optimal Polynomial Trajectories for Robot Manipulators," Proceedings of the USA/Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics, American Society of Mechanical Engineers (ASME), Jan 1988.
USA/Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics
Mechanical and Aerospace Engineering
Keywords and Phrases
Control Systems; Optimal; Kinematics - Mathematical Programming; Dynamic; Mathematical Tecniques-Polynomials; Robotics
Article - Conference proceedings
© 1988 American Society of Mechanical Engineers (ASME), All rights reserved.