Paper Info
Title
Optimal trajectories of robot arms minimizing constrained actuators and travelling time
Abstract
Dynamic optimization of the motion of a robot arm is carried out using the Pontryagin maximum principle. A mixed performance index involving travel time and bounded actuators is minimized to obtain a near-minimum traveling time and continuous output. One can avoid, in that case, actuating effort jumps and arm jerks. A full dynamic model formulated with Hamiltonian variables is used. This model, together with the optimality conditions, leads to a two-point boundary value problem which is solved by combining a gradient algorithm and a shooting method
Year
DOI
Venue
1990
10.1109/ROBOT.1990.125956
ICRA
Keywords
DocType
Volume
boundary-value problems,maximum principle,optimisation,performance index,position control,robots,hamiltonian variables,pontryagin maximum principle,dynamic model,dynamic optimisation,gradient algorithm,robot arms,shooting method,trajectory motion,travel time,two-point boundary value problem,boundary value problems,optimal control,actuators,robot arm,stress,constraint optimization
Conference
1990
Issue
Citations 
PageRank 
1
2
0.73
References 
Authors
1
2
Name
Order
Citations
PageRank
Guy Bessonnet123221.43
Lallemand, J.P.220.73