J. Y. S. Luh and C. S. Lin. Optimal Path Planning for Mechanical Manipulators. Trans. of ASME J. of Dynamic Systems, Measurement, and Control, 2(330 -- 335), 1981. Home/Search Document Not in Database Summary Related Articles Check |
This paper is cited in the following contexts:
On Time Optimal Path Control of Manipulators with Bounded Joint.. - Zlajpah (1996) (Correct)
....problem subject to constraints due to joint torques and velocities bounds, and to the task requirements. Several authors studied the minimum time control in robotics. Khan and Roth [1] assumed constant torque limits and non constraint path. Different aspects of the problem are presented in [2, 3, 4, 5]. The optimal trajectory planning in the form we present was first introduced by Bobrow [6] Bobrow s work uses the idea of the admissible path velocities and the admissible regions in phase plane. The admissible regions are calculated from the input torque bounds. This approach was further ....
J. Y. S. Luh and C. S. Lin. Optimal Path Planning for Mechanical Manipulators. Trans. of ASME J. of Dynamic Systems, Measurement, and Control, 2(330 -- 335), 1981.
Specifying and Verifying Robotic Tasks - Shkel, Ferrier (Correct)
....profile that maximizes the velocity of the manipulator along a given path, taking into account state dependent constraints on the actuators. The solutions are presented in the form of algorithms for constructing the switching curve. Another technique was developed in [Luh and Walker, 1977, Luh and Lin, 1981] to minimize the time required to move along a specified path consisting of straight lines and circular arcs. The results from existing literature can be adopted for our purposes travel time estimation. Assume that the path of the finger s end effector is given (x(t) and the maximum and ....
Luh, J. and Lin, C. (1981). Optimal path planning for mechanical manipulators. IEEE Intern. Conf. on Decision and Control, 12:142--151.
Learning Open-Loop From Closed-Loop Control - Ferrier, Kostuch (1997) (Correct)
....of selecting the acceleration profile that maximizes the velocity of the manipulator along a given path, taking into account state dependent constraints on the actuators. The solutions are presented in the form of algorithms for constructing the switching curve. Another technique was developed in [10, 9] to minimize the time required to move along a specified path consisting of straight lines and circular arcs. Bobrow [1] shows that in order to minimize the traveling time, x has to be always chosen as either the maximum possible acceleration or the maximum pos Distance along the path Velocity ....
J. Luh and C. Lin. Optimal path planning for mechanical manipulators. IEEE Intern. Conf. on Decision and Control, 12:142--151, 1981.
Specifying and Verifying Robotic Tasks - Shkel, Ferrier (1997) (Correct)
....profile that maximizes the velocity of the manipulator along a given path, taking into account state dependent constraints on the actuators. The solutions are presented in the form of algorithms for constructing the switching curve. Another technique was developed in [Luh and Walker, 1977, Luh and Lin, 1981] to minimize the time required to move along a specified path consisting of straight lines and circular arcs. The results from existing literature can be adopted for our purposes travel time estimation. Assume that the path of the finger s end effector is given (x(t) and the maximum and ....
Luh, J. and Lin, C. (1981). Optimal path planning for mechanical manipulators. IEEE Intern. Conf. on Decision and Control, 12:142--151.
Contribution to Optimal Path Control of Manipulators with.. - Zlajpah, Leonardi (Correct)
....different algorithms available for trajectory planning. In the paper we present a solution to the time optimal trajectory planning problem subject to input constraints given by the task, and actuator torques and velocities. Different aspects of the problem are presented in (Khan and Roth, 1971; Luh and Lin, 1981; Hollerbach, 1984) The optimal trajectory planning in the form we will present was first introduced by Bobrow (1985) Bobrow s work uses the idea of the admissible path velocities and the admissible regions in phase plane which are are calculated from the input torque bounds. This approach was ....
Luh, J. Y. S. and Lin, C. S. (1981). Optimal Path Planning for Mechanical Manipulators.
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