Minimum-time optimal control of robotic manipulators based on Hamel's integrators
DOI10.1007/S11012-019-01093-1OpenAlexW2990680605WikidataQ126652850 ScholiaQ126652850MaRDI QIDQ6186763FDOQ6186763
Authors:
Publication date: 10 January 2024
Published in: Meccanica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s11012-019-01093-1
Recommendations
- Minimum-time control of robotic manipulators with geometric path constraints
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- Optimal control of robotic manipulators in the presence of obstacles
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Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15)
Cites Work
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- Quasivelocities and symmetries in non-holonomic systems
- Path planning and collision avoidance for robots
- Discrete Euler-Poincaré and Lie-Poisson equations
- A dynamic programming approach to trajectory planning of robotic manipulators
- Optimal Trajectory Generation for Robotic Manipulators Using Dynamic Programming
- A discrete geometric optimal control framework for systems with symmetries
- Hamel's formalism and variational integrators
- A variational integrator for the Chaplygin-Timoshenko sleigh
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