Reliable computation of minimum-time motions for manipulators moving in obstacle fields using a successive search for minimum-overload trajectories

DOI10.1002/ROB.20045MaRDI QIDQ3423802zbMATH OpenOpenAlexFDO

Authors Jong Keun Park, J. E. Bobrow

Publication date 15 February 2007

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.20045

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

Recommendations

• Optimal trajectory planning of robot manipulators in the presence of moving obstacles
• Planning the subminimum-time motion of a robotic manipulator which avoids obstacles
• Minimum-time trajectory planning of mechanical manipulators under dynamic constraints
• Trajectory modeling of robot manipulators in the presence of obstacles
• Minimum-time control of robotic manipulators with geometric path constraints

Cited in

(4)

• Solving constrained minimum‐time robot problems using the sequential gradient restoration algorithm
• Planning the subminimum-time motion of a robotic manipulator which avoids obstacles
• Optimal trajectory planning of robot manipulators in the presence of moving obstacles
• Trajectory planning of parallel kinematic manipulators for the maximum dynamic load-carrying capacity

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