A discrete path/trajectory planner for robotic arms

DOI10.1017/S0334270000006457MaRDI QIDQ3468984zbMATH OpenFDO

Authors

Publication date 1989

Published in The Journal of the Australian Mathematical Society. Series B. Applied Mathematics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1017/S0334270000006457

zbMATH Keywords

bounds on joint coordinatesdiscrete minimum cost path/trajectory planarjoint torques and joint jerksjoint velocitiesminimum cost pathoff-line determinationStanford manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Application models in control theory (93C95)

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Cited in

(5)

• Duality and Riemannian cubics
• Non-null Lie quadratics in E3
• Singular perturbations and interpolation— a problem in robotics
• Null cubics and Lie quadratics
• Minimum cost trajectory planning for industrial robots

Describes a project that uses

Uses Software

• MINOS

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