{"title":"A genetic/interval approach to optimal trajectory planning of industrial robots under torque constraints","authors":"C. Bianco, A. Piazzi","doi":"10.23919/ECC.1999.7099428","DOIUrl":null,"url":null,"abstract":"In this paper an optimal trajectory planning problem for industrial multi-link robots is considered. Using a cubic polynomial joint interpolation scheme, a minimum time trajectory under torque constraints is planned via a global optimization algorithm proposed by the authors. This proposed optimization method takes into account a rigid-link full dynamics model. Numerical results for a two-link arm, related to a 10 knots trajectory, are reported.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"1999 European Control Conference (ECC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ECC.1999.7099428","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 9
Abstract
In this paper an optimal trajectory planning problem for industrial multi-link robots is considered. Using a cubic polynomial joint interpolation scheme, a minimum time trajectory under torque constraints is planned via a global optimization algorithm proposed by the authors. This proposed optimization method takes into account a rigid-link full dynamics model. Numerical results for a two-link arm, related to a 10 knots trajectory, are reported.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
