Energy-optimal trajectory planning for robot manipulators with holonomic constraints

Abstract

In this paper, we study two different trajectory planning problems for robotmanipulators. In the first case, the end-effector of the robot is constrained to move along a prescribed path in the workspace, whereas in the second case, the trajectory of the end-effector has to be determined in the presence of obstacles. Constraints of this type are called… (More)
DOI: 10.1016/j.sysconle.2011.11.005

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Cite this paper

@article{Gregory2012EnergyoptimalTP, title={Energy-optimal trajectory planning for robot manipulators with holonomic constraints}, author={John Gregory and Alberto Olivares and Ernesto Staffetti}, journal={Systems & Control Letters}, year={2012}, volume={61}, pages={279-291} }