Optimal trajectories of robot arms minimizing constrained actuators and travelling time
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Dynamic optimization of the motion of a robot arm is carried out using the Pontryagin maximum principle. A mixed performance index involving travel time and bounded actuators is minimized to obtain a near-minimum traveling time and continuous output. One can avoid, in that case, actuating effort jumps and arm jerks. A full dynamic model formulated with Hamiltonian variables is used. This model, together with the optimality conditions, leads to a two-point boundary value problem which is solved by combining a gradient algorithm and a shooting method.Keywords
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