The method of orienting curves and its application to manipulator trajectory planning

DOI10.1080/01630569708816755zbMath0881.70006OpenAlexW2159377286MaRDI QIDQ4344647

Johannes P. Schlöder, Hans Georg Bock, Hoang Xuan Phu

Publication date: 19 February 1998

Published in: Numerical Functional Analysis and Optimization (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/01630569708816755

zbMATH Keywords

state constraintsupper boundboundary arcsfinal curvestime-optimal motion of robot

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Existence theories for optimal control problems involving ordinary differential equations (49J15)

Related Items (11)

Energy-optimal trajectory planning for robot manipulators with holonomic constraints ⋮ Finding globally shortest paths through a sequence of adjacent triangles by the method of orienting curves ⋮ A common regularization for three reservoir optimal control problems ⋮ Finding Shortest Paths in a Sequence of Triangles in 3D by the Planar Unfolding ⋮ Method of orienting curves for determining the convex hull of a finite set of points in the plane ⋮ Finding shortest paths in a sequence of triangles in 3D by the method of orienting curves ⋮ Some comments on DAE theory for IRK methods and trajectory optimization ⋮ Analyzing a Maximum Principle for Finite Horizon State Constrained Problems via Parametric Examples. Part 2: Problems with Bilateral State Constraints ⋮ An efficient convex hull algorithm for finite point sets in 3D based on the Method of Orienting Curves ⋮ Orienting method for obstacle problems ⋮ Quicker than Quickhull

Cites Work

• Dynamics of manipulation robots. Theory and application
• Time-optimal motions of robots in assembly tasks
• Zur Lösung eines zermelosehen nayigationsproblems
• Ein konstruktives lösungsverfahren für das roblem des inpolygons kleinsten Umfangs Von J Steiner
• Method of orienting curves for solving optimal control problems with state constraints¹
• Solving a class of regular optimal control problems with state constraints by the method of orienting curves
• Zur lösung einer regulären aufgabenklasse der optimalen steuerung im groβen mittels orientierungskurven

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