On Higher Order Inverse Kinematics Methods in Time-Optimal Trajectory Planning for Kinematically Redundant Manipulators
作者： Alexander Reiter , Andreas Muller , Hubert Gattringer
关键词:
摘要: … applications if the optimal motions can actually be performed by standard industrial robots. This is not ensured by any optimal motion planning … modeling and control of flexible link/joint …
sci-hub.se 参考文章(33)
Yoshihiko Nakamura, Advanced Robotics: Redundancy and Optimization Addison-Wesley Longman Publishing Co., Inc.. ,(1990)
Springer Handbook of Robotics Springer. ,(2007) , 10.1007/978-3-319-32552-1
H.G. Bock, K.J. Plitt, A Multiple Shooting Algorithm for Direct Solution of Optimal Control Problems IFAC Proceedings Volumes. ,vol. 17, pp. 1603- 1608 ,(1984) , 10.1016/S1474-6670(17)61205-9
Zvi Shiller, H-H Lu, None, Robust computation of path constrained time optimal motions international conference on robotics and automation. pp. 144- 149 ,(1990) , 10.1109/ROBOT.1990.125962
Guez, Ahmad, Solution to the inverse kinematics problem in robotics by neural networks IEEE 1988 International Conference on Neural Networks. pp. 617- 624 ,(1988) , 10.1109/ICNN.1988.23979
Kang Shin, N. McKay, Minimum-time control of robotic manipulators with geometric path constraints IEEE Transactions on Automatic Control. ,vol. 30, pp. 531- 541 ,(1985) , 10.1109/TAC.1985.1104009
Kang Shin, N. McKay, A dynamic programming approach to trajectory planning of robotic manipulators IEEE Transactions on Automatic Control. ,vol. 31, pp. 491- 500 ,(1986) , 10.1109/TAC.1986.1104317
W. Wolovich, H. Elliott, A computational technique for inverse kinematics The 23rd IEEE Conference on Decision and Control. ,vol. 23, pp. 1359- 1363 ,(1984) , 10.1109/CDC.1984.272258
A. Balestrino, G. De Maria, L. Sciavicco, B. Siciliano, An algorithmic approach to coordinate transformation for robotic manipulators Advanced Robotics. ,vol. 2, pp. 327- 344 ,(1987) , 10.1163/156855388X00029
Shugen MA, Mitsuru WATANABE, Time Optimal Path-Tracking Control of Kinematically Redundant Manipulators Jsme International Journal Series C-mechanical Systems Machine Elements and Manufacturing. ,vol. 47, pp. 582- 590 ,(2004) , 10.1299/JSMEC.47.582