Energy-optimal trajectory planning for robot manipulators with holonomic constraints

DOI10.1016/j.sysconle.2011.11.005zbMath1238.93061MaRDI QIDQ414554

J. Herrera, H. S. Yoon

Publication date: 11 May 2012

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2011.11.005

zbMATH Keywords

optimal control; variational calculus; holonomic constraints; robotics

Mathematics Subject Classification ID

49N90: Applications of optimal control and differential games

93C85: Automated systems (robots, etc.) in control theory

93C15: Control/observation systems governed by ordinary differential equations

68T40: Artificial intelligence for robotics