Title :
Actuator constraints in optimal motion planning of manipulators
Author :
Pedel, P. ; Bestaoui, Yasmina
Author_Institution :
Lab. d´´Autom., CNRS, Nantes, France
Abstract :
The optimal motion generation problem is solved subject to various actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time energy function while most of existing methods consider only the time-optimal problem. We present some simulation results using a mathematical programming technique (sequential quadratic programming) existing in the NPSOL software
Keywords :
actuators; path planning; time optimal control; NPSOL software; actuator constraints; manipulators; mathematical programming technique; objective function; optimal motion generation problem; optimal motion planning; sequential quadratic programming; time-optimal problem; weighted time energy function; Actuators; DC motors; Interpolation; Manipulator dynamics; Mathematical programming; Quadratic programming; Robots; Spraying; Torque; Welding;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525623
