Predictable Trajectory Planning of Industrial Robots with Constraints
نویسندگان
چکیده
منابع مشابه
Minimum cost trajectory planning for industrial robots
We discuss the problem of minimum cost trajectory planning for robotic manipulators. It consists of linking two points in the operational space while minimizing a cost function, taking into account dynamic equations of motion as well as bounds on joint positions, velocities, jerks and torques. This generic optimal control problem is transformed, via a clamped cubic spline model of joint tempora...
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A method for computing minimum cost trajectory planning for industrial robot manipulators is presented. The objective function minimizes the cost function with the constraints being joint positions, velocities, jerks and torques by considering dynamic equations of motion. A clamped cubic spline is used to represent the trajectory. This is a non-linear constrained optimization problem. The probl...
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ژورنال
عنوان ژورنال: Applied Sciences
سال: 2018
ISSN: 2076-3417
DOI: 10.3390/app8122648