Trajectory modeling of robot manipulators in the presence of obstacles (Q5947261)
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scientific article; zbMATH DE number 1660700
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Trajectory modeling of robot manipulators in the presence of obstacles |
scientific article; zbMATH DE number 1660700 |
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Trajectory modeling of robot manipulators in the presence of obstacles (English)
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16 October 2001
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Considering minimum-time/minimum-energy trajectory planning of robot manipulators under input torque/force constraints and in the presence of fixed obstacles, the trajectories are modelled using spline functions. Two different strategies are considered: Following a certain number of points, a design vector is updated composed of time intervals. If only initial and final points are given, the design vector is composed of interpolating coefficients. Some simulation results are presented.
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trajectory planning
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robot manipulators
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torque/force constraints
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fixed obstacles
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spline functions
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