Constraint-Based Prioritized Trajectory Planning for Multibody Systems

  title={Constraint-Based Prioritized Trajectory Planning for Multibody Systems},
  author={Yuichi Tazaki and Tatsuya Suzuki},
  journal={IEEE Transactions on Robotics},
This paper presents a trajectory-planning method for multibody systems. Trajectory planning of a multibody system is formulated as a constraint-solving problem on a set of variables expressing the motion of the multibody system over a unite-time interval. Constraints express the dynamics of rigid bodies, kinematic conditions of joints, various range limitations, as well as achievement of tasks, and they can be assigned different priority levels. The prioritized constraint-solving problem is… CONTINUE READING


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