SUBOPTIMAL PATH PLANNING OF ROBOTS - MINIMAL NONLINEAR FORCES AND ENERGY

被引：2
|
作者：
WIENS, GJ
BERGGREN, MJ
机构：
[1] AUBURN UNIV,DEPT MECH ENGN,AUBURN,AL 36849
[2] CORNELL UNIV,ITHACA,NY 14853
来源：
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1991年 / 113卷 / 04期
关键词：
D O I：
10.1115/1.2896486
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An algorithm has been presented in which the role of inertia sensitivities in path planning of robots is investigated. The main objective is to obtain a path, from point A to point B in joint coordinates, in which the nonlinear forces (centripetal and Coriolis) are minimized. Using standard optimization theory, an objective ("cost") function is selected to include energy and nonlinear forces for minimization.
引用
收藏
页码：748 / 752
页数：5
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