Patrick Plédel

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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)
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)
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