Suboptimal Robot Joint Interpolation Within User‐Specified Knot Tolerances
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Publication:4272954
DOI10.1002/rob.4620100702zbMath0782.70007OpenAlexW1963751205MaRDI QIDQ4272954
Publication date: 2 January 1994
Published in: Journal of Robotic Systems (Search for Journal in Brave)
Full work available at URL: https://engagedscholarship.csuohio.edu/enece_facpub/198
objective functionquadratic programming problemparameter optimizationtwo-link manipulatortrigonometric splinesminimum jerkknot anglesminimum torque
Cites Work
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- A stable recurrence relation for trigonometric B-splines
- A suboptimal control algorithm for constrained problems using cubic splines
- Formulation and optimization of cubic polynomial joint trajectories for industrial robots
- Joint trajectories of mechanical manipulators for Cartesian path approximation
- Optimal control of robotic manipulators in the presence of obstacles
- Fourier-based optimal control approach for structural systems
- A Chebyshev technique for solving nonlinear optimal control problems
- Convex Programming and Duality in Normed Space
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