M. Vukobratovi'c and M. Kir'canski. A method for optimal synthesis of manipulation robot trajectories. ASME Journal of Dynamic Systems, Measurement, and Control, 104, 1982. Home/Search Document Not in Database Summary Related Articles Check |
This paper is cited in the following contexts:
Continuous Methods for Motion Planning - Zefran (1996) (7 citations) (Correct)
....optimal trajectories and inputs using Pontryagin s minimum principle. A similar problem was also solved by Shiller [127] In applications where time and limits on the actuator forces are not critical, other cost functionals can be used to obtain smooth motion plans. Vukobratovi c and Kir canski [146] proposed minimization of energy (approximated by the integral of the square norm of the vector of inputs) to compute optimal inputs for a 6 degree of freedom anthropomorphic manipulator. They assumed a known path and computed velocity distribution along the path using dynamic programming. ....
M. Vukobratovi'c and M. Kir'canski. A method for optimal synthesis of manipulation robot trajectories. ASME Journal of Dynamic Systems, Measurement, and Control, 104, 1982.
A Variational Calculus Framework for Motion Planning - Zefran, Kumar (Correct)
....and globally optimal solution; kinematic motion planning methods and local methods for redundancy resolution might produce solutions that are not suitable for implementation. Optimal control and variational calculus have been extensively used for motion planning in the robotics literature (e.g. [2] [7] Most of these works concentrate on a particular aspect of motion, such as timeoptimality or resolution of redundancy, they do not use variational calculus as a general framework for motion planning. The variational formulation of the motion planning problem studied in this paper is: ....
M. Vukobratovi'c and M. Kir'canski, "A method for optimal synthesis of manipulation robot trajectories," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 104, 1982.
Optimal Control of Systems With Unilateral Constraints - Milos Zefran (1995) (2 citations) (Correct)
....involve redundancy (kinematic or actuator) and can be solved using either local (point wise) or global (involving integral of some cost function along the trajectory of the system) optimization techniques. Global approaches to optimization with different cost functions such as time [6, 7] energy [8, 9], time and energy [10] and rates of change of actuator torques [8, 11] have been addressed in the literature. None of these papers address systems with inequality constraints depending only on the state variables. Pointwise optimization is much simpler because the trajectory of the system is ....
....points where these solutions meet is further complicated by the fact that the number of such points is not known in advance. Approximate solutions can be found by adjoining the constraints with a penalty function [13] Another approach is to discretize the state space and use dynamic programming [9, 10]. However, the high di mension of the state space usually results in dynamic programs of prohibitive complexity. Alternatively, an approximate solution can be obtained if it is approximated with a set of basis functions. None of these methods work satisfactorily with state variable ....
M. Vukobratovi'c and M. Kir'canski, "A method for optimal synthesis of manipulation robot trajectories," ASME J. Dyn. Syst., Meas., Contr., vol. 104, 1982.
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