Construction of optimal programmed paths for the motion of a robotic manipulator (Q1375265)

The paper considers the construction of programmed paths satisfying certain optimization criteria for the motion of a robotic manipulator in an environment with obstacles. The problem is solved in two stages. In the first stage, a so-called geometrical path is constructed in the space of generalized (articulated-joint) coordinates. This path is not a function of time: it is a function of some scalar parameter. In the second stage, given the geometrical path, the authors construct the sought optimal programmed path as a function of time. The construction of the geometrical path includes an analysis of the behaviour of the solution on perturbed input data, in particular, on a perturbed description of the environment (the obstacle).