Mathematical optimization in robotics: Towards automated high-speed motion planning

zbMath0936.70010MaRDI QIDQ1393003

Richard W. Longman, Marc C. Steinbach, Georgii V. Kostin, Hans Georg Bock

Publication date: 14 May 2000

Published in: Surveys on Mathematics for Industry (Search for Journal in Brave)

zbMATH Keywords

frictioninverse dynamicsforward dynamicsindustrial robot KUKA 761joint elasticitypseumatic weight compensationrotor inertiasequential quadratic programming algorithms for trajectory optimizationtime-critical transport maneuver

Mathematics Subject Classification ID

Quadratic programming (90C20) Control, switches and devices (``smart materials) in solid mechanics (74M05) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (3)

Energy-optimal trajectory planning for robot manipulators with holonomic constraints ⋮ An SQP method for the optimal control of large-scale dynamical systems ⋮ Energy-optimal trajectory planning for the Pendubot and the Acrobot

Uses Software

• MBSPACK
• OTIS

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