Robot trajectory planning with semi-infinite programming

被引：46

作者：

Vaz, AIF

Fernandes, EMGP

Gomes, MPSF

机构：

[1] Univ Minho, Escola Engn, Dept Prod & Sist, P-4710057 Braga, Portugal

[2] Univ London Imperial Coll Sci Technol & Med, Dept Mech Engn, Mechatron Med Lab, London SW7 2BX, England

来源：

EUROPEAN JOURNAL OF OPERATIONAL RESEARCH | 2004年 / 153卷 / 03期

关键词：

nonlinear programming; robot trajectory planning; semi-infinite programming; discretization method; SIPAMPL database;

D O I：

10.1016/S0377-2217(03)00266-2

中图分类号：

C93 [管理学];

学科分类号：

12 ; 1201 ; 1202 ; 120202 ;

摘要：

In this paper we describe how robot trajectory planning can be formulated as a semi-infinite programming (SIP) problem. The formulation as a SIP problem allowed us to treat the problem with one of the three main classes of methods for solving SIP, the discretization class. Two of the robotics trajectory planning problems formulated were coded in the SIPAMPL environment which is publicly available. A B-Spline library was also created to allow the codification of the robotics trajectory problem. (C) 2003 Elsevier B.V. All rights reserved.

引用

页码：607 / 617

页数：11

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[3]

de Boor C., 1978, PRACTICAL GUIDE SPLI, DOI DOI 10.1007/978-1-4612-6333-3

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