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Chettibi, T.; Lehtihet, H. E.; Haddad, M.; Hanchi, S.

Minimum cost trajectory planning for industrial robots. (English) Zbl 1060.70016

Eur. J. Mech., A, Solids 23, No. 4, 703-715 (2004).
Summary: 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 temporal evolutions, into a nonlinear constrained optimization problem which is treated then by the sequential quadratic programming method. Applications involving grasping mobile object or obstacle avoidance illustrate the efficiency of the proposed planning.

Cited in 1 Review
Cited in 13 Documents

MSC:

70E60 Robot dynamics and control of rigid bodies
70Q05 Control of mechanical systems

Keywords:

optimal control problem; cubic spline; sequential quadratic programming method

Software:

NLPQL
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Full Text: DOI

References:

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