Global minimum-time trajectory planning of mechanical manipulators using interval analysis

International Journal of Control

Volumn 71, Issue 4, 1998, Pages 631-652

  Piazzi, Aurelio ^a   Visioli, Antonio ^b  

^a UNIVERSITY OF PARMA   (Italy)

^b UNIVERSITY OF BRESCIA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ACCELERATION; ALGORITHMS; C (PROGRAMMING LANGUAGE); CONSTRAINT THEORY; INTERPOLATION; MOTION PLANNING; PIECEWISE LINEAR TECHNIQUES; POLYNOMIALS; SUBROUTINES; VELOCITY;

GLOBAL MINIMUM TIME TRAJECTORY PLANNING; INTERVAL ANALYSIS; PIECEWISE CUBIC POLYNOMIALS;

MANIPULATORS;

EID: 0032205873     PISSN: 00207179     EISSN: 13665820     Source Type: Journal    
DOI: 10.1080/002071798221713     Document Type: Article

References (23)

1. Bobrow, J., 1988, Optimal robot path planning using the minimum time criterion, IEEE Journal of Robotics and Automation, 4, 174-185.
2. Craig, J., 1989, Introduction to Robotics: Mechanics and Control (New York: Addison-Wesley).
3. Grace, A., 1994, Matlab Optimization Toolbox-User’s Guide (Natick, MA: The Mathworks Inc.).
4. Hansen, E., 1992, Global Optimization Using Interval Analysis (New York: Marcel Dekker).
5. Jaulin, L., and Walter, E., 1996, Guaranteed tuning with application to robust control and motion planning. Automatica, 32, 1217-1221.
6. KnUppel, O., 1993a, BIAS-basic interval arithmetic subroutines. Technical Report, Technische Universitat Hamburg, Hamburg, Germany.
7. Knu ppel, O., 1993b, PROFIL-programmer’s runtime optimization fast interval library. Technical Report, Technische Universitat Hamburg, Hamburg, Germany.
8. Kyriakopoulos, K., and Saridis, G., 1988, Minimum jerk path generation. Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, PA, pp. 364-369.
9. Lin, C., Chang, P., and Luh, J., 1983, Formulation and optimization of cubic polynomial joint trajectories for industrial robots. IEEE Transactions on Automatic Control, 23, 1066-1074.
10. Luenberger, D., 1989, Linear and Non-linear Programming (Reading, MA: Addison-Wesley).
11. Malan, S., Milanese, M., and Taragna, M., 1997, Robust analysis and design of control systems using interval arithmetic. Automatica, 33, 1363-1372.
12. Moore, R., 1979, Methods and Applications of Interval Analysis (Philadelphia, PA: SIAM Press).
13. Piazzi, A., and Marro, G., 1996, Robust stability using interval analysis. International Journal of Systems Science, 27, 1381-1390.
14. Piazzi, A., and Visioli, A., 1997, A global optimization approach to trajectory planning for industrial robots. Proceedings of the 10th IEEE-RSJ International Conference on Intelligent Robots and Systems, Grenoble, pp. 1553-1559.
15. Ratschek, H., and Rokne, J., 1984, Computer Methods for the Range of Functions (Chichester: Ellis Horwood).
16. Ratschek, H., and Rokne, J., 1988, New Computer Methods for Global Optimization (Chichester: Ellis Horwood).
17. Shiller, Z., and Dubowski, S., 1988, Robot path planning with obstacles, actuator, gripper, and payload constraints. International Journal of Robotics Research, 8, 3-18.
18. Shin, K., and McKay, N. D., 1986, A dynamic programming approach to trajectory planning of robotic manipulators. IEEE Transactions on Automatic Control, 31, 491-500.
19. Simon, D., 1993, The application of neural networks to optimal robot trajectory planning. Robotics and Autonomous Systems, 11, 23-34.
20. Tan, H., and Pot, R., 1988, Minimum time trajectory planner for the discrete dynamic robot model with dynamic constraints. IEEE Journal of Robotics and Automation, 4, 174-185.
21. Thach, P., and Tuy, H., 1987, Global optimization under Lipschitzian constraints. Japan Journal of Applied Mathematics, 4, 205-217.
22. Walter, E., and Jaulin, L., 1994, Guaranteed characterization of stability domains via set inversion. IEEE Trans. Automatic Control, 39, 886-889.
23. Wu, C., 1994, A numerical approach for time-optimal path-planning of kinematically redundant manipulators. Robotica, 12, 401-410