Planning the subminimum-time motion of a robotic manipulator which avoids obstacles
- Authors: Kayumov O.R.1
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Affiliations:
- Tara Branch
- Issue: Vol 55, No 6 (2016)
- Pages: 865-877
- Section: Control in Deterministic Systems
- URL: https://journals.rcsi.science/1064-2307/article/view/219750
- DOI: https://doi.org/10.1134/S106423071606006X
- ID: 219750
Cite item
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.
About the authors
O. R. Kayumov
Tara Branch
Author for correspondence.
Email: Oleg_Kayumov@mail.ru
Russian Federation, ul. Shkol’naya 69, Tara, Omsk oblast, 646535