Construction of optimal programmed paths for the motion of a robotic manipulator

DOI10.1007/BF02367771MaRDI QIDQ1375265zbMATH OpenFDO

Authors V. I. Artemenko, Eh. N. Gordeev, Yu. I. Zhuravlev, F. M. Kulakov, V. B. Naumov, G. A. Potapchuk, Yu. G. Smetanim, R. Urhardt, A. N. Khodzinskij, G. Honderd, I. V. Sergienko

Publication date 5 February 1998

Published in Cybernetics and Systems Analysis (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/BF02367771

zbMATH Keywords

automated systemsenvironment with obstaclesgeometrical pathrobotic manipulator

Mathematics Subject Classification ID

Differential games and control (49N70) Pursuit and evasion games (49N75) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85)

Review text

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).

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Cited in

(12)

• Planning the subminimum-time motion of a robotic manipulator which avoids obstacles
• Versatile algorithms of construction and optimization of programmed motions of manipulators
• Stability of solutions in problems of computational geometry
• Comparison of three approaches to studying stability of solutions to problems of discrete optimization and computational geometry
• Optimal control of robotic manipulators in the presence of obstacles
• An approximation algorithm ford₁-optimal motion of a rod robot with fixed rotations
• Synthesis of optimal program law for movement of a robot with orthogonal walking drives
• scientific article; zbMATH DE number 3988753 (Why is no real title available?)
• scientific article; zbMATH DE number 4039382 (Why is no real title available?)
• scientific article; zbMATH DE number 797434 (Why is no real title available?)
• scientific article; zbMATH DE number 797440 (Why is no real title available?)
• Approximation of Optimal Moving Paths of Huge Robot Reclaimer with a 3D Range Finder

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