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Optimal Trajectory Planning of Manipulators Subject to Motion Constraints

Shen, Yueshi; Hueper, Knut

Description

This paper presents a novel approach to plan an optimal joint trajectory for a manipulator robot performing a compliant motion task. In general, a two-step scheme will be deployed to find the optimal robot joint curve. Firstly, we approximate the functional and use Newton's iteration to numerically calculate the joint trajectory's intermediate discretized points, instead of solving a corresponding nonlinear, implicit Euler-Lagrange equation. Secondly, we interpolate these points to get the...[Show more]

CollectionsANU Research Publications
Date published: 2005
Type: Conference paper
URI: http://hdl.handle.net/1885/80558
Source: Proceedings 2005 12th International Conference on Advanced Robotics
DOI: 10.1109/ICAR.2005.1507384

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