• DocumentCode
    3784094
  • Title

    Heuristics in time-optimal motions

  • Author

    P. Gawlowicz

  • Author_Institution
    Univ. of Zielona Gora, Poland
  • fYear
    2001
  • fDate
    6/23/1905 12:00:00 AM
  • Firstpage
    147
  • Lastpage
    149
  • Abstract
    This paper deals with planning time optimal motions of a robot in the presence of geometrical constraints. The time optimal controls are derived on the basis of the Pontryagin´s maximum principle. The bang-bang types of controls are obtained. An analysis of the controls of manipulator motion planning and a sequence of switching is determined. In order to speed up a planning procedure a bidirectional heuristic search algorithm, combined with some means for improving efficiency, is used.
  • Keywords
    "Manipulator dynamics","Motion planning","Equations","Robots","Optimal control","Bidirectional control","Heuristic algorithms","Motion control","Solid modeling","Orbital robotics"
  • Publisher
    ieee
  • Conference_Titel
    Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
  • Print_ISBN
    83-7143-515-0
  • Type

    conf

  • DOI
    10.1109/ROMOCO.2001.973446
  • Filename
    973446
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3784094