scientific article; zbMATH DE number 16824
[For the entire collection see Zbl 0723.00051.] The problem of trajectory planning is: given a path to be followed by the end-effector, the differential equations that describe the manipulator dynamics and the constraints of the torques/forces available from the actuators, find the time history of the positions along the path so that a given performance index is minimized. The paper presents some issues in trajectory planning in automated dynamic systems. The emphasis has been on understanding the complexities as well as the limitations involved in formulating this as a controller design problem. An architecture for implementing a complete dynamic trajectory planner is proposed.
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