Actuator Constraints in Optimal Motion Planning of Manipulators
نویسندگان
چکیده
The optimal motion generation problem is solved subject to various actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time energy Jitnction while most of existing methods consider only the time-optimal problem. We present some simulation results using a mathematical programming technique (Sequential Quadratic Programming) existing in the NPSOL sofrware.
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تاریخ انتشار 1995