Optimal Trajectory Planning of Industrial Robots using Geodesic
نویسندگان
چکیده
منابع مشابه
Optimal trajectory planning for industrial robots
An analysis of the results of an algorithm for optimal trajectory planning of robot manipulators is described in this paper. The objective function to be minimized is a weighted sum of the integral squared jerk and the execution time. Two possible primitives for building the trajectory are considered: cubic splines or fifth-order B-splines. The proposed technique allows to set constraints on th...
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ژورنال
عنوان ژورنال: IAES International Journal of Robotics and Automation (IJRA)
سال: 2016
ISSN: 2089-4856,2089-4856
DOI: 10.11591/ijra.v5i3.pp190-198