A global approach for the optimal path generation of redundant robot manipulators
作者:
R. V. Mayorga,
A. K. C. Wong,
期刊:
Journal of Robotic Systems
(WILEY Available online 1990)
卷期:
Volume 7,
issue 1
页码: 107-128
ISSN:0741-2223
年代: 1990
DOI:10.1002/rob.4620070106
出版商: Wiley Subscription Services, Inc., A Wiley Company
数据来源: WILEY
摘要:
AbstractIn this article the optimal path generation of redundant robot manipulators is considered as an optimization problem, with given kinematics and subject to the robot requirements and a singularities avoidance constraint. This problem is formulated as a constrained continuous optimal control problem, which allows to consider joints and velocities constraints and/or manipulator dynamics. This approach is exemplified for a planar redundant manipulator and the resultant state constrained problem is solved by an efficient iterative numerical technique.
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