GLOBALLY OPTIMAL TRAJECTORY PLANNING FOR REDUNDANT MANIPULATORS USINGSTATE-SPACE AUGMENTATION METHOD

Authors
ZHOU ZL NGUYEN CC
Citation
Zl. Zhou et Cc. Nguyen, GLOBALLY OPTIMAL TRAJECTORY PLANNING FOR REDUNDANT MANIPULATORS USINGSTATE-SPACE AUGMENTATION METHOD, Journal of intelligent & robotic systems, 19(1), 1997, pp. 105-117
Citations number
15
Categorie Soggetti
System Science","Computer Science Artificial Intelligence","Robotics & Automatic Control
Journal title
Journal of intelligent & robotic systems → ACNP
ISSN journal
09210296
Volume
19
Issue
1
Year of publication
1997
Pages
105 - 117
Database
ISI
SICI code
0921-0296(1997)19:1<105:GOTPFR>2.0.ZU;2-3
Abstract
The off-line global trajectory planning for kinematically redundant ma nipulators is formulated as an optimization problem whose solution is obtained by applying the Pontryagin's Maximum Principle. The state spa ce augmentation method is developed to obtain a set of optimal joint t rajectories corresponding to a singularity-free Cartesian path which a voids 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.