Efficient Computation of Time-Optimal Point-to-Point Motion Trajectories
نویسندگان
چکیده
منابع مشابه
optimal motion generating of nonholonomic manipulators with elastic revolute joints in generalized point-to-point task
this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...
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ژورنال
عنوان ژورنال: IEEE Transactions on Control Systems Technology
سال: 2015
ISSN: 1063-6536,1558-0865
DOI: 10.1109/tcst.2014.2332140