Pose optimization of task-redundant robots in second-order rest-to-rest motion with cascaded dynamic programming and nullspace projection

DOI10.1007/978-3-031-26474-0_6OpenAlexW4321794973MaRDI QIDQ6120589

Unnamed Author

Publication date: 25 March 2024

Published in: Informatics in Control, Automation and Robotics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-031-26474-0_6

zbMATH Keywords

dynamic programminginverse kinematicstrajectory optimizationrobot manipulatortask redundancynullspace projection

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Dynamic programming (90C39)

Cites Work

• Optimal dynamic trajectory planning for linearly actuated platform type parallel manipulators having task space redundant degree of freedom
• A hybrid differential dynamic programming algorithm for constrained optimal control problems. I: Theory
• Parallel robots.
• A dynamic programming approach to trajectory planning of robotic manipulators

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