The method of orienting curves and its application to manipulator trajectory planning

Numerical Functional Analysis and Optimization

Volumn 18, Issue 1-2, 1997, Pages 213-225

  Phu, Hoang Xuan ^a   Bock, Hans Georg ^b   Schlöder, Johannes P ^b  

^a Institute of Mathematics   (Viet Nam)

^b UNIVERSITY OF HEIDELBERG   (Germany)

Author keywords

Manipulators; Method of Orienting Curves; Optimal Control; Robotics; State Constraints; Trajectory Planning

Indexed keywords

ACCELERATION; ALGORITHMS; CONSTRAINT THEORY; EQUATIONS OF MOTION; FUNCTIONS; MANIPULATORS; MOTION PLANNING; OPTIMIZATION; ROBOTICS; VELOCITY;

ORIENTING CURVES; TRAJECTORY PLANNING;

OPTIMAL CONTROL SYSTEMS;

EID: 0030646588     PISSN: 01630563     EISSN: None     Source Type: Journal    
DOI: 10.1080/01630569708816755     Document Type: Article

References (16)

1. J. E. Bobrow, S. Dubowsky, and J. S. Gibson, Time-Optimal Control of Robotic Manipulators along Specified Paths, The International Journal of Robotics Research 4 (1985).
2. N. N. Bolotnik and F. L. Chernous'ko, Optimization of Manipulation Robot Control, Soviet Journal of Computer and Systems Sciences 28 (1990), 127-169.
3. N. Dinh and H. X. Phu, Solving a Class of Regular Optimal Control Problems with State Constraints by the Method of Orienting Curves, Optimization 25 (1992), 231-247.
4. N. Dinh and H. X. Phu, Solving a Class of Optimal Control Problems Which Are Linear in the Control Variable by the Method of Orienting Curves, Acta Mathematics Vietnamica 17 (1992), 115-134.
5. N. Dinh and H. X. Phu, The Method of Orienting Curves and Its Application to an Optimal Control Problem of Hydroelectric Power Plants, Journal of Mathematics (Tap chi Toán hoc) 20 (1992), 40-53.
6. H. P. Geering, L. Guzzella, S. A. R. Hepner, and C. H. Onder, Time-Optimal Motions of Robots in Assembly Tasks, IEEE Transactions on Automatic Control AC-31 (1986), 512-518.
7. J. Konzelmann, H. G. Bock, and R. W. Longman, Time Optimal Trajectories of Polar Robot Manipulators by Direct Methods, Modeling & Simulation 20 (1989), 1933-1939.
8. J. Konzelmann, H. G. Bock, and R. W. Longman, Time Optimal Trajectories of Elbow Robots by Direct Methods, Proceeding of the 1989 AIAA Guidance, Navigation, and Control Conference, Boston, MA, August 1989, pp. 883-894, 1989
9. F. Pfeiffer and R. Johanni, A Concept for Manipulator Trajectory Planning, Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, California, April 7-10, 1986, pp. 1399-1405.
10. H. X. Phu, Zur Lösung einer regulären Aufgabenklasse der optimalen Steurung im Großen mittels Orientierungskurven, Optimization 18 (1987), 65-81.
11. H. X. Phu, Zur Lösung eines Zermeloschen Navigationsproblems, Optimization 18 (1987), 225-236.
12. H. X. Phu, Ein konstruktives Lösungsverfahren für das Problem des Inpolygons kleinsten Umfangs von J Steiner, Optimization 18 (1987), 349-359.
13. H. X. Phu, Method of Orienting Curves for Solving Optimal Control Problems with State Constraints, Numerical Functional Analysis and Optimization 12 (1991), 173-211.
14. H. X. Phu and N. Dinh, Some Remarks on the Method of Orienting Curves (to appear)
15. M. Steinbach, H. G. Bock, and R. W. Longman, Time Optimal Extension and Retraction in Polar Coordinate Robots, Proceeding of the 1989 AIAA Guidance, Navigation, and Control Conference, Boston, MA, pp. 895-910, 1989, accepted for JOTA.
16. M. Vukobratovic and V. Potkonjak, Dynamics of Manipulation Robots, Springer-Verlag, Berlin-Heidelberg-New York, 1982.