Title :
Analytic closed-form solutions for suboptimal trajectory planning of single-link flexible-joint robot arms
Author_Institution :
Dept. of Electr. Eng., Houston Univ., TX, USA
fDate :
10/1/1992 12:00:00 AM
Abstract :
A suboptimal trajectory planning problem for single-link flexible-joint robot arms is studied. A global feedback-linearization technique is first applied to reformulate the nonlinear constrained optimization as a suboptimal interpolation problem. Then the unique analytic suboptimal solution for the problem is obtained in closed form. Simulation results are given to show the effectiveness of the method
Keywords :
feedback; interpolation; linearisation techniques; optimisation; path planning; robots; flexible single link robot arms; global feedback-linearization; nonlinear constrained optimization; suboptimal interpolation; suboptimal trajectory planning; Aerodynamics; Automatic control; Constraint optimization; Control systems; Couplings; Manipulator dynamics; Nonlinear control systems; Robot control; Robotics and automation; Trajectory;
Journal_Title :
Robotics and Automation, IEEE Transactions on
