DocumentCode
3440311
Title
Actuator constraints in optimal motion planning of manipulators
Author
Pedel, P. ; Bestaoui, Yasmina
Author_Institution
Lab. d´´Autom., CNRS, Nantes, France
Volume
3
fYear
1995
fDate
21-27 May 1995
Firstpage
2427
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525623
Filename
525623
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