제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Near-optimum trajectory planning for robot manipulators

  • Yamamoto, Motoji (Department of Mechanical Engineering Production, Faculty of Engineering, Kyushu University) ;
  • Marushima, Shinya (Department of Mechanical Engineering Production, Faculty of Engineering, Kyushu University) ;
  • Mohri, Akira (Department of Mechanical Engineering Production, Faculty of Engineering, Kyushu University)
  • Published : 1989.10.01
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Abstract

An efficient algorithm for planning near-optimum trajectory of manipulators is proposed. The algorithm is divided into two stages. The first one is the optimization of time trajectory with given spatial path. And the second one is the optimization of the spatial path itself. To consider the second problem, the manipulator dynamics is represented using the path parameter "s", then a differential equation corresponding to the dynamics is solved as two point boundary value problem. In this procedure, the gradient method is used to calculate improved input torques.t torques.

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