Robot path planning in a constrained workspace by using optimal control techniques

DOI10.1007/s11044-007-9059-1zbMath1159.70006OpenAlexW2075184503WikidataQ126254636 ScholiaQ126254636MaRDI QIDQ926510

Valder jun. Steffen, Rogério R. dos Santos, Sezimária de Fátima Pereira Saramago

Publication date: 20 May 2008

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-007-9059-1

zbMATH Keywords

method of objective weightingmulticriteria optimal controlserial robot manipulator

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (2)

Energy-optimal trajectory planning for robot manipulators with holonomic constraints ⋮ The planning of the trajectory of UAV group with the performance of Pythagorean Hodograph and Bernstein-Bezier composite curves in the plane

Uses Software

• DOT

Cites Work

• Computational aspects of discrete-time optimal control
• Optimization of the trajectory planning of robot manipulators taking into account the dynamics of the system.
• Multiple criteria optimization: State of the art annotated bibliographic surveys
• The computation and theory of optimal control
• Optimal Trajectory Generation for Robotic Manipulators Using Dynamic Programming
• A new approach to differential dynamic programming for discrete time systems
• Smooth and time-optimal trajectory planning for industrial manipulators along specified paths
• Time-Energy Optimal Control of Articulated Systems With Geometric Path Constraints
• Application of mathematical programming in the design of optimal control systems†
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