Title :
An optimal motion planning algorithm for manipulators
Author :
Pledel, Patrick ; Bestaoui, Yasmina
Author_Institution :
Lab. d´´Autom., CNRS, Nantes, France
Abstract :
The optimal motion generation problem is solved subject to actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time-energy function. The authors present some results using a mathematical programming technique
Keywords :
manipulators; mathematical programming; path planning; actuator constraints; manipulators; mathematical programming technique; optimal motion generation; optimal motion planning algorithm; weighted time-energy function; Acceleration; Actuators; DC motors; Manipulator dynamics; Mathematical programming; Motion planning; Optimal control; Orbital robotics; Robot motion; Torque;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.531216
