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Published in:
1988 | OriginalPaper | Chapter
Optimal Planning of Trajectories for Robots
Authors : M. C. Leu, S. K. Singh
Published in: CAD Based Programming for Sensory Robots
Publisher: Springer Berlin Heidelberg
Included in: Professional Book Archive
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Two levels of optimal trajectory planning problems are solved for robot manipulators. On the first level the manipulator path is specified, and the constraints are due to limitation on actuator torques/forces. On the second level the manipulator path is unspecified, and the constraints are due to both limitation on actuator torques/forces and presence of workspace obstacles. The first-level problems are solved by dynamic programming and the second-level problems by a recursive quadratic programming algorithm.