DocumentCode
2693466
Title
A comparative study of optimal control algorithms for robot continuous path planning
Author
Pledel, Patrick ; Bestaoui, Yasmina
Author_Institution
Lab. d´´Automatique de Nantes, Nantes Univ., France
Volume
3
fYear
1994
fDate
2-5 Oct 1994
Firstpage
2522
Abstract
The optimal motion generation problem is solved subject to actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time energy function. Existing methods consider only the time-optimal problem. We present some simulation results using a mathematical programming technique (sequential quadratic programming) existing in the NPSOL software. Then, a comparative study is made between existing methods and the proposed technique
Keywords
constraint handling; motion control; path planning; quadratic programming; robots; time optimal control; NPSOL software; actuator constraints; manipulator model; objective function; optimal control; robot continuous path planning; sequential quadratic programming; weighted time energy function; Actuators; DC motors; Manipulator dynamics; Mathematical programming; Neodymium; Optimal control; Path planning; Quadratic programming; Robot motion; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on
Conference_Location
San Antonio, TX
Print_ISBN
0-7803-2129-4
Type
conf
DOI
10.1109/ICSMC.1994.400249
Filename
400249
Link To Document