A global approach for the optimal path generation of redundant robot manipulators

DOI10.1002/rob.4620070106zbMath0693.70007OpenAlexW2024625612MaRDI QIDQ3468642

Andrew K. C. Wong, Rene V. Mayorga

Publication date: 1990

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

Full work available at URL: https://doi.org/10.1002/rob.4620070106

zbMATH Keywords

optimization problemredundant robot manipulatorssingularities avoidance constraintconstrained continuous optimal control problemoptimal path generation

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Variational principles of physics (49S05)

Related Items (5)

Procedure for manipulator inverse kinematics computation and proper pseudoinverse perturbation ⋮ A fast procedure for manipulator inverse kinematics computation and singularities prevention ⋮ An efficient local approach for the path generation of robot manipulators ⋮ A fast approach for the robust trajectory planning of redunant robot manipulators ⋮ An inverse dynamic-based dynamic programming method for optimal point-to-point trajectory planning of robotic manipulators

Cites Work

• A family of variable metric methods in function space, without exact line searches
• Computational methods in optimization. A unified approach.
• Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms

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