DocumentCode
2521958
Title
Planning optimal robot trajectories by cell mapping
Author
Zhu, Wen H. ; Leu, Ming C.
Author_Institution
Dept. of Mech. & Ind. Eng., New Jersey Inst. of Technol., Newark, NJ, USA
fYear
1990
fDate
13-18 May 1990
Firstpage
1730
Abstract
A cell-mapping method is introduced for planning global trajectories of robotic manipulators in cases where the cell space is composed of combination pairs of plane cells. With the proposed method, optimal trajectory problems in the free field and in the obstacle-constrained field are studied. Two numerical examples are given to show the obtained optimal trajectories and controls
Keywords
optimisation; planning (artificial intelligence); robots; cell mapping; manipulators; path planning; robot; trajectory planning; Force control; Manipulator dynamics; Optimal control; Orbital robotics; Path planning; Performance analysis; Service robots; Space technology; State-space methods; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.126259
Filename
126259
Link To Document