Selection of near-minimum time geometric paths for robotic manipulators

DOI10.1109/TAC.1986.1104316zbMath0628.93046MaRDI QIDQ3765658

Neil D. McKay, Kang G. Shin

Publication date: 1986

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

zbMATH Keywords

geodesicsenergy methodsPontryagin's minimum principletime schedulinggeometric pathmaximum torque constraintsminimum transversal time problemoptimal robot trajectory planningsuper-manipulator

Mathematics Subject Classification ID

Numerical optimization and variational techniques (65K10) Application models in control theory (93C95) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Control/observation systems governed by ordinary differential equations (93C15) Collision of rigid or pseudo-rigid bodies (70F35)

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Simulating discrete and rhythmic multi-joint human arm movements by optimization of nonlinear performance indices ⋮ Definition of a kinematic metric for robot manipulators ⋮ Unnamed Item ⋮ Controlling robot manipulators by dynamic programming ⋮ Near‐time optimal robot motion planning foe on‐line applications ⋮ Minimum cost trajectory planning for industrial robots ⋮ Path planning and replanning for mobile robot navigation on 3D terrain: an approach based on geodesic

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