Manipulator Motion Planning in the Presence of Obstacles and Dynamic Constraints

Document Type

Article

Publication Date

1-1-1991

Abstract

Motion planning algorithms are traditionally restricted to finding spatial or “physical” paths only, while manipulator dynamics is ignored. The attendant low-level problem of timing and velocity along the path is left to the trajectory planner. In this study, these two aspects have been combined. The overall problem has been cast as an optimal control problem. The obstacle avoidance conditions have been for mulated as state-variable inequality constraints. These con straints are shown to be continuously differentiable in our formulation. The continuous-time problem is converted to a discrete-time problem to permit the use of nonlinear pro gramming algorithms for the heavily constrained problem. Computational issues such as discretization effects and al gorithmic efficiency have been addressed. Simulations are performed for the proposed method. © 1991, Sage Publications. All rights reserved.

Identifier

0026137901 (Scopus)

Publication Title

International Journal of Robotics Research

External Full Text Location

https://doi.org/10.1177/027836499101000208

e-ISSN

17413176

ISSN

02783649

First Page

171

Last Page

187

Issue

2

Volume

10

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