Minimum cost trajectory planning for industrial robots

DOI10.1016/j.euromechsol.2004.02.006zbMath1060.70016OpenAlexW2068190491MaRDI QIDQ704356

D. Kharzeev

Publication date: 13 January 2005

Published in: European Journal of Mechanics. A. Solids (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.euromechsol.2004.02.006

zbMATH Keywords

sequential quadratic programming methodoptimal control problemcubic spline

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (13)

Trajectory planning of parallel kinematic manipulators for the maximum dynamic load-carrying capacity ⋮ A random-profile approach for trajectory planning of wheeled mobile robots ⋮ Trajectory planning based on non-convex global optimization for serial manipulators ⋮ Continuous trajectory planning based on learning optimization in high dimensional input space for serial manipulators ⋮ Inverse-dynamics- and disturbance-observer-based tube model predictive tracking control of uncertain robotic manipulator ⋮ A trajectory planning of redundant manipulators based on bilevel optimization ⋮ Multiobjective trajectory optimization and adaptive backstepping control for rubber unstacking robot based on RFWNN method ⋮ Optimal control of nonlinear systems with dynamic programming ⋮ Generating optimal dynamic motions for closed-chain robotic systems ⋮ Adaptive neuro-predictive control for redundant robot manipulators in presence of static and dynamic obstacles: A Lyapunov-based approach ⋮ A new methodology for solving trajectory planning and dynamic load-carrying capacity of a robot manipulator ⋮ Planning of manipulator motion trajectory with higher-degree polynomials use ⋮ Simultaneous algorithm to solve the trajectory planning problem

Uses Software

• NLPQL

Cites Work

• A random-profile approach for trajectory planning of wheeled mobile robots
• Conversion of Optimal Control Problems into Parameter Optimization Problems
• Survey of Numerical Methods for Trajectory Optimization
• A dynamic programming approach to trajectory planning of robotic manipulators
• Selection of near-minimum time geometric paths for robotic manipulators
• Algorithms for nonlinear constraints that use lagrangian functions
• Optimal robot motions for physical criteria
• Global minimum-time trajectory planning of mechanical manipulators using interval analysis
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