Globally Optimal Trajectory Planning for Redundant Manipulators using State Space Augmentation Method

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 19, Issue 1, 1997, Pages 105-117

  Zhou, Zhen Lei ^a,b   Nguyen, Charles C ^b  

^a Pats Inc   (United States)

^b Catholic University of America ^*  (United States)

Author keywords

Optimization; Pontryagin's maximum principle; Redundant manipulators; State space augmentation; Trajectory planning

Indexed keywords

COMPUTER SIMULATION; KINEMATICS; MANIPULATORS; MAXIMUM PRINCIPLE; OPTIMIZATION; STATE SPACE METHODS; UNIVERSAL JOINTS;

AUGMENTATION METHOD; GLOBAL TRAJECTORY PLANNING;

MOTION PLANNING;

EID: 0031147304     PISSN: 09210296     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1007905817998     Document Type: Article

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