SOLVING ROBOT TRAJECTORY PLANNING PROBLEMS WITH UNIFORM CUBIC B-SPLINES

被引：56

作者：

CHEN, YC

机构：

[1] Department of Electrical Engineering, Ryerson Polytechnical Institute, Toronto, Ontario

来源：

OPTIMAL CONTROL APPLICATIONS & METHODS | 1991年 / 12卷 / 04期

关键词：

OPTIMAL CONTROL; STATE CONSTRAINTS; ROBOTIC MANIPULATORS; CUBIC B-SPLINES;

D O I：

10.1002/oca.4660120404

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Uniform cubic B-splines are applied to solve the optimal trajectory planning problem for robotic manipulators. It is first shown that the trajectory planning problem can be formulated as an optimal control problem with state and control constraints. The resulting optimal control problem is then solved numerically.

引用

页码：247 / 262

页数：16