A dynamic programming approach to trajectory planning of robotic manipulators

DOI10.1109/TAC.1986.1104317zbMath0588.93032OpenAlexW1972394793MaRDI QIDQ3716924

Kang G. Shin, Neil D. McKay

Publication date: 1986

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tac.1986.1104317

zbMATH Keywords

algorithmconvergencedynamic programmingtrajectory planningrobotic manipulatorstorque force constraints

Mathematics Subject Classification ID

Dynamic programming in optimal control and differential games (49L20) Nonlinear systems in control theory (93C10) Dynamic programming (90C39) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Control/observation systems governed by ordinary differential equations (93C15)

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