Optimal trajectory planning for redundant manipulators based on minimum jerk

Proceedings of the ASME Design Engineering Technical Conference

Volumn 2, Issue PARTS A AND B, 2008, Pages 1141-1150

  Yang, Jingzhou ^a   Kim, Joo ^a   Pitarch, Esteban Pena ^b   Abdel Malek, Karim ^a  

^a IA United States   (United States)

^b UNIVERSITAT POLITÈCNICA DE CATALUNYA   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

B SPLINE CURVE; CARTESIAN SPACE; CONTROL PERFORMANCE; CONTROL POINT; END POINTS; FIRST DERIVATIVE; HUMAN JOINTS; ILLUSTRATIVE EXAMPLES; INITIAL POINT; JOINT MOTION; JOINT TRAJECTORIES; MINIMUM JERKS; NON-SMOOTHNESS; NUMBER OF DEGREES OF FREEDOM; OBJECTIVE FUNCTIONS; OPTIMAL TRAJECTORY PLANNING; OPTIMIZATION APPROACH; PSEUDO-INVERSE TECHNIQUE; ROBOTIC MANIPULATORS; SECOND DERIVATIVES; SMOOTH TRAJECTORIES; SPLINE CURVE; TARGET POINT; UNKNOWN PARAMETERS; VIA POINT;

CURVE FITTING; DESIGN; INVERSE KINEMATICS; OPTIMIZATION; REDUNDANT MANIPULATORS; ROBOTICS; ROBOTS; SPLINES; TRAJECTORIES;

ROBOT PROGRAMMING;

EID: 81155138169     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2008-49268     Document Type: Conference Paper

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