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

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.