Minimum-time trajectory planning of mechanical manipulators under dynamic constraints

DOI10.1080/00207170210156161zbMath1021.93025OpenAlexW2057182449WikidataQ59096321 ScholiaQ59096321MaRDI QIDQ4804435

Aurelio Piazzi, Corrado Guarino Lo Bianco

Publication date: 9 July 2003

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170210156161

zbMATH Keywords

spline approximationrobotspenaltysemi-infinite optimizationminimum-time trajectory optimizationtime-dependent inequality

Mathematics Subject Classification ID

Numerical computation using splines (65D07) Automated systems (robots, etc.) in control theory (93C85) Semi-infinite programming (90C34) Robot dynamics and control of rigid bodies (70E60)

Related Items (3)

Minimum-time trajectory planning of mechanical manipulators under dynamic constraints ⋮ On the use of outer approximations as an external active set strategy ⋮ A new methodology for solving trajectory planning and dynamic load-carrying capacity of a robot manipulator

Uses Software

• Optimization Toolbox

Cites Work

• Formulation and optimization of cubic polynomial joint trajectories for industrial robots
• Minimum-time control of robotic manipulators with geometric path constraints
• Kronecker products and matrix calculus in system theory
• Minimum-time trajectory planning of mechanical manipulators under dynamic constraints
• Global minimum-time trajectory planning of mechanical manipulators using interval analysis
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