Planning the subminimum-time motion of a robotic manipulator which avoids obstacles
- 作者: Kayumov O.1
-
隶属关系:
- Tara Branch
- 期: 卷 55, 编号 6 (2016)
- 页面: 865-877
- 栏目: Control in Deterministic Systems
- URL: https://journals.rcsi.science/1064-2307/article/view/219750
- DOI: https://doi.org/10.1134/S106423071606006X
- ID: 219750
如何引用文章
详细
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.
作者简介
O. Kayumov
Tara Branch
编辑信件的主要联系方式.
Email: Oleg_Kayumov@mail.ru
俄罗斯联邦, ul. Shkol’naya 69, Tara, Omsk oblast, 646535
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