Title :
Planning optimal robot trajectories by cell mapping
Author :
Zhu, Wen H. ; Leu, Ming C.
Author_Institution :
Dept. of Mech. & Ind. Eng., New Jersey Inst. of Technol., Newark, NJ, USA
Abstract :
A cell-mapping method is introduced for planning global trajectories of robotic manipulators in cases where the cell space is composed of combination pairs of plane cells. With the proposed method, optimal trajectory problems in the free field and in the obstacle-constrained field are studied. Two numerical examples are given to show the obtained optimal trajectories and controls
Keywords :
optimisation; planning (artificial intelligence); robots; cell mapping; manipulators; path planning; robot; trajectory planning; Force control; Manipulator dynamics; Optimal control; Orbital robotics; Path planning; Performance analysis; Service robots; Space technology; State-space methods; Trajectory;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126259
