A sensitivity approach to optimal spline robot trajectories

Abstract

Abstrnct-A robot trajectory planning problem is considered. Using smooth interpolating cubic splines as joint space trajectories, the path is parameterized in terms of time intervals between knots. A minimum time optimization problem is formulated under maximum torque and velocity constraints, and is solved by means of a first order derivative-type… (More)
DOI: 10.1016/0005-1098(91)90111-E

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