Abstract: Time-optimal motion planning for robotic manipulators consists of moving the robot along a path in Cartesian space as fast as possible.
Abstract— Time-optimal motion planning for robotic manip- ulators consists of moving the robot along a path in Cartesian space as fast as possible.
Abstract— Time-optimal motion planning for robotic manip- ulators consists of moving the robot along a path in Cartesian space as fast as possible.
In this paper, we present a new method to compute time- optimal motions around a path. By employing an appropriate change of variables for the robot dynamics to ...
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Jul 15, 2023 · optimal motion planning for n-dof robot manipulators using a path- parametric system reformulation,” in 2016 American Control Confer- ence ...
Jan 14, 2023 · The proposed method first performs a backward pass and a forward pass to generate the second-order optimal velocity profile. Then, the points ...
Minimum-time control of robotic manipulators with geometric path constraints · K. ShinNeil D. McKay. Engineering, Computer Science. 1985. TLDR. This paper ...
Missing: reformulation. | Show results with:reformulation.
... robot with n degrees-of-freedom (dof) in two consecutive stages: geometric path planning and path parameterization. In geometric path planning, a path planner ...
May 16, 2024 · The final trajectory combines the path with the time ... Time-optimal path parameterizations. Finish ... Gibson, "Time-Optimal Control of Robotic ...
Our method involves a numerical resolution of a reformulation of the constrained optimal control problem into an unconstrained calculus of variations problem in ...