Optimal Trajectory Planning of Manipulators Subject to Motion Constraints
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]
|Collections||ANU Research Publications|
|Source:||Proceedings 2005 12th International Conference on Advanced Robotics|
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