Trajectory modeling of robot manipulators in the presence of obstacles (Q5947261)

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scientific article; zbMATH DE number 1660700
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Trajectory modeling of robot manipulators in the presence of obstacles
scientific article; zbMATH DE number 1660700

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    Trajectory modeling of robot manipulators in the presence of obstacles (English)
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    16 October 2001
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    Considering minimum-time/minimum-energy trajectory planning of robot manipulators under input torque/force constraints and in the presence of fixed obstacles, the trajectories are modelled using spline functions. Two different strategies are considered: Following a certain number of points, a design vector is updated composed of time intervals. If only initial and final points are given, the design vector is composed of interpolating coefficients. Some simulation results are presented.
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    trajectory planning
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    robot manipulators
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    torque/force constraints
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    fixed obstacles
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    spline functions
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