A Learning Optimal Trajectory Planning of Robotic Manipulators
نویسندگان
چکیده
منابع مشابه
A convex relaxation for the time-optimal trajectory planning of robotic manipulators along predetermined geometric paths
In this paper, we deal with the problem of time-optimal trajectory planning and feedforward controls for robotic manipulators along predetermined geometric paths. We propose a convex relaxation to generate time-optimal trajectories and feedforward controls that are dynamically feasible with respect to the complete nonlinear dynamic model, considering both Coulomb friction and viscous friction. ...
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ژورنال
عنوان ژورنال: Transactions of the Institute of Systems, Control and Information Engineers
سال: 1989
ISSN: 1342-5668,2185-811X
DOI: 10.5687/iscie.2.17