Globally Optimal Trajectory Planning for Redundant Manipulators using State Space Augmentation Method

The off-line global trajectory planning for kinematically redundant manipulators is formulated as an optimization problem whose solution is obtained by applying the Pontryagin's Maximum Principle. The state space augmentation method is developed to obtain a set of optimal joint trajectories cor...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 1997-05, Vol.19 (1), p.105-117
Main Authors: Zhou, Zhen-lei, Nguyen, Charles C
Format: Article
Language:English
Subjects:
Augmentation
Computer simulation
Manipulators
Maximum principle
Optimization
Redundant
Robot arms
Studies
Trajectory planning
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Summary:The off-line global trajectory planning for kinematically redundant manipulators is formulated as an optimization problem whose solution is obtained by applying the Pontryagin's Maximum Principle. The state space augmentation method is developed to obtain a set of optimal joint trajectories corresponding to a singularity-free Cartesian path which avoids joint limits and conserves joint configuration in cyclic motion. Results of computer simulation conducted on a three-degree-of-freedom planar manipulator are presented and discussed.[PUBLICATION ABSTRACT]
ISSN:0921-0296
1573-0409
DOI:10.1023/A:1007905817998