Construction of optimal programmed paths for the motion of a robotic manipulator
type: Item
instance of: scholarly article
title: Construction of optimal programmed paths for the motion of a robotic manipulator
zbMATH Open document ID: 0894.93028
DOI: 10.1007/BF02367771
author: V. I. Artemenko
author: Eh. N. Gordeev
author: Yu. I. Zhuravlev
author: F. M. Kulakov
author: V. B. Naumov
author: G. A. Potapchuk
author: Yu. G. Smetanim
author: R. Urhardt
author: A. N. Khodzinskij
author: G. Honderd
author: I. V. Sergienko
published in: Cybernetics and Systems Analysis
publication date: 1998-02-05T00:00:00Z
review text: The paper considers the construction of programmed paths satisfying certain optimization criteria for the motion of a robotic manipulator in an environment with obstacles. The problem is solved in two stages. In the first stage, a so-called geometrical path is constructed in the space of generalized (articulated-joint) coordinates. This path is not a function of time: it is a function of some scalar parameter. In the second stage, given the geometrical path, the authors construct the sought optimal programmed path as a function of time. The construction of the geometrical path includes an analysis of the behaviour of the solution on perturbed input data, in particular, on a perturbed description of the environment (the obstacle).
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 49N70
Mathematics Subject Classification ID: 49N75
Mathematics Subject Classification ID: 93C73
zbMATH DE Number: 1103956
zbMATH Keywords: automated systems
zbMATH Keywords: robotic manipulator
zbMATH Keywords: environment with obstacles
zbMATH Keywords: geometrical path
reviewed by: Clementina Mladenova
MaRDI profile type: Publication
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description: scientific article; zbMATH DE number 1103956