Optimization of the trajectory planning of robot manipulators taking into account the dynamics of the system

Mechanism and Machine Theory

Volumn 33, Issue 7, 1998, Pages 883-894

  Saramago, S F P ^a   Steffen Jr , V ^a  

^a NONE

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; CONSTRAINT THEORY; DYNAMICS; KINEMATICS; MATHEMATICAL MODELS; MOTION PLANNING; OPTIMIZATION; ROBOTS; TRAJECTORIES;

TRAJECTORY PLANNING;

MANIPULATORS;

EID: 0032184214     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0094-114X(97)00110-9     Document Type: Article

References (8)

1. Richard, M. C. et al., Mechanical Machinery Theory, 1993, 28, 301-316.
2. Paul, R. P., in Robot Manipulators: Mathematics, Programing and Control. MIT Press, Cambridge, Mass, 1982, pp. 9-41.
3. Ránky, P. G. and Ho, C. Y., in Robot Modelling: Control and Applications with Software. Springer-Verlag, Berlin, 1985, pp. 41-95.
4. Steffen, V. Jr. and Saramago, S. F. P., Optimization Techniques for Off-line Trajectories Planning of Robot Manipulators, ICONE - Second International Conference on Non-linear Dynamics, Chaos, Control and their Applications in Engineering Sciences, São Pedro, S.P. Brazil, 1996.
5. Saramago, S. F. P. and Steffen, V. Jr., Aspectos Fundamentals ao Usar Técnicas de Otimiação no Projeta de Sistemas Mecânicos, Proc. IV Congr. Eng. Mecânica-NNE, Vol. 1, Recife, Brazil, 1996, pp. 421-426.
6. Alves, J. B. M., in Controle de Robô. Câmara Brasileira do Livro, São Paulo, Brasil, 1988, pp. 80-82.
7. Lin, C. S.et al., IEEE Transactions on Automatic Control, 1983, AC-28, 1066-1073.
8. Vanderplaats, G., DOT - Design Optimization Tools Program, Vanderplaats Research & Development, Inc. Colorado Springs, 1995.