Planning the subminimum-time motion of a robotic manipulator which avoids obstacles |
| |
Authors: | O. R. Kayumov |
| |
Affiliation: | 1.Tara Branch,Omsk State Pedagogical University,Tara, Omsk oblast,Russia |
| |
Abstract: | A method of planning the programmed motion of a manipulator with configuration constraints due to the presence of an obstacle in the working zone is proposed. The constraints on control variables, whose number is equal to the number of freedom degrees, are assumed to be specified beforehand. The planned motions are nearly time-optimal in the same sense, in which a dynamic system can be close to a certain linear decomposed system. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|