Planning of manipulator joint trajectories by an iterative method
- 1 April 1988
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 6 (2) , 101-105
- https://doi.org/10.1017/s0263574700003908
Abstract
SUMMARY: Manipulator joint trajectories are planned to make an arbitrary cost function as good as possible in consideration of physical constraints based on kinematics and dynamics of a manipulator system. An algorithm presented in this paper is an iteratively improving method using the local controllability of B spline. It can be also applied to the case that some points are specified and joint trajectories must pass through those points. This algorithm is applied to an example of trajectory planning of a manipulator with two links and two degrees of freedom.Keywords
This publication has 4 references indexed in Scilit:
- Planning of Joint Trajectories of Manipulators with Geometric Path ConstraintsTransactions of the Society of Instrument and Control Engineers, 1987
- Time-optimal motions of robots in assembly tasksIEEE Transactions on Automatic Control, 1986
- Minimum-time control of robotic manipulators with geometric path constraintsIEEE Transactions on Automatic Control, 1985
- Optimal Dynamic Trajectories for Robotic ManipulatorsPublished by Springer Nature ,1985