Title :
Optimal trajectory planning for planar n-link revolute manipulators in the presence of obstacles
Author :
Chen, Yao-Chon ; Vidyasagar, Mathukumalli
Author_Institution :
Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
Abstract :
The optimal trajectory planning problem for planar n-link (n=2,3) revolute manipulators in the presence of obstacles is considered. A method for modeling the obstacles is proposed. Through the proposed method, closed-form approximations of obstacles in terms of the generalized coordinates of the manipulator are obtained. These expressions are then used to formulate the optimal trajectory planning problem as an optimal control problem in constrained state space. The resulting optimal control problem is then solved numerically
Keywords :
optimal control; position control; robots; state-space methods; approximations; modeling; optimal control; optimal trajectory planning; revolute manipulators; robots; Closed-form solution; Councils; Couplings; Manipulators; Optimal control; Orbital robotics; Robot kinematics; State-space methods; Trajectory;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12048
