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- Patrick Plédel, Yasmina Bestaoui
- ICRA
- 1995

The optimal motion generation problem is solved subject to various actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time energy Jitnction while most of existing methods consider only the time-optimal problem. We present some simulation results using a mathematical programming… (More)

I INTRODUCTION Minimum time point to point motion planning has been solved considering kinematical constraints on speed and acceleration [3]. These bounds are approximations and imply the full capability of the robot cannot be utilized. Efficiency can be increased by considering the characteristics of the robot dynamics. [l] has presented a trajectory… (More)

- Patrick Plédel, Yasmina Bestaoui
- ICRA
- 1996

The optimal motion generation problem is solved subject to actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time-energy function. We present some results using a mathematical programming technique. 1. Introduction Motion along a predefined path is common in robotics. The path is given… (More)

- Patrick Plédel
- 2004

Motion generation gives the joint positions, speeds and accelerations of manipulators, at every moment. ?Ve assume that the motion are polynomial trajectories, that ensure joint acceleration continuity. Usual kinematical constraints, obtained with approximations, are not always suflcient, then we will focus on actuators constraints on voltages and currents.

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