Trajectory modeling of robot manipulators in the presence of obstacles

DOI10.1023/A:1017587311457zbMath0980.93052MaRDI QIDQ5947261

Sezimária de Fátima Pereira Saramago, Valder jun. Steffen

Publication date: 16 October 2001

Published in: Journal of Optimization Theory and Applications (Search for Journal in Brave)

zbMATH Keywords

spline functionsrobot manipulatorsfixed obstaclestorque/force constraintstrajectory planning

Mathematics Subject Classification ID

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

Related Items (4)

Combining discrete and continuous optimization to solve kinodynamic motion planning problems ⋮ Motion controller design of wheeled inverted pendulum with an input delay via optimal control theory ⋮ Optimization of the operation of the anthropomorphic manipulator in a three-dimensional working space ⋮ Simultaneous algorithm to solve the trajectory planning problem

Uses Software

• DOT

Cites Work

• Optimal trajectory planning of robot manipulators in the presence of moving obstacles
• Formulation and optimization of cubic polynomial joint trajectories for industrial robots

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