Optimal robot plant planning using the minimum-time criterion
作者： J.E. Bobrow
DOI: 10.1109/56.811
关键词: Path (graph theory) 、 Industrial robot 、 Nonlinear system 、 Mathematics 、 Workspace 、 Cartesian coordinate system 、 Motion planning 、 Obstacle avoidance 、 Actuator 、 Control theory
摘要: A path planning technique is presented which produces time-optimal manipulator motions in a workspace containing obstacles. The full nonlinear equations of motion are used in conjunction with the actuator limitations to produce optimal trajectories. The Cartesian path of the manipulator is represented with B-spline polynomials, and the shape of this path is varied in a manner that minimizes the traversal time. Obstacle avoidance constraints are included in the problem through the use of distance functions. In addition to computing the …
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