AN INVERSE DYNAMIC-BASED DYNAMIC-PROGRAMMING METHOD FOR OPTIMAL POINT-TO-POINT TRAJECTORY PLANNING OF ROBOTIC MANIPULATORS

This paper introduces an inverse dynamic-based dynamic programming (ID BDP) method for solving optimal point-to-point robot trajectory planni ng problems. Compared with the conventional dynamic programming method , the proposed method offers several advantages. First, it eliminates the interpolation requirement. Second, the proposed method requires on ly inverse dynamic computations. The requirement to integrate equation s of motion is thus avoided. As a result, the IDBDP method is computat ionally more efficient than the conventional dynamic programming metho d. The reliability and efficiency of the IDBDP method have been tested via computer simulations.