Selection of near-minimum time geometric paths for robotic manipulators
DOI10.1109/TAC.1986.1104316zbMATH Open0628.93046MaRDI QIDQ3765658FDOQ3765658
Authors: Kang G. Shin, Neil D. McKay 
Publication date: 1986
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
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- Optimization of the trajectory planning of robot manipulators taking into account the dynamics of the system.
energy methodsgeodesicsPontryagin's minimum principletime schedulinggeometric pathmaximum torque constraintsminimum transversal time problemoptimal robot trajectory planningsuper-manipulator
Numerical optimization and variational techniques (65K10) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95) Collision of rigid or pseudo-rigid bodies (70F35)
Cited In (7)
- Definition of a kinematic metric for robot manipulators
- Title not available (Why is that?)
- Controlling robot manipulators by dynamic programming
- Near‐time optimal robot motion planning foe on‐line applications
- Simulating discrete and rhythmic multi-joint human arm movements by optimization of nonlinear performance indices
- 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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