| Автор | Tan, H. H. |
| Автор | Potts, R. B. |
| Дата выпуска | 1989 |
| dc.description | AbstractAn interesting and challenging problem in robotics is the off-line determination of the minimum cost path along which an end effector should move from a given initial to a given final state. This paper presents a discrete minimum cost path/trajectory planner which provides a general solution and allows for a range of constraints such as bounds on joint coordinates, joint velocities, joint torques and joint jerks. To demonstrate the practicability and feasibility of the planner, simulation results are presented for the Stanford manipulator using three and then the full six of its degrees of freedom. Simulation runs with two-link planar arms are also presented to enable a comparison with previously published results. |
| Формат | application.pdf |
| Издатель | Cambridge University Press |
| Копирайт | Copyright © Australian Mathematical Society 1989 |
| Название | A discrete path/trajectory planner for robotic arms |
| Тип | research-article |
| DOI | 10.1017/S0334270000006457 |
| Electronic ISSN | 1446-8735 |
| Print ISSN | 0334-2700 |
| Журнал | The Journal of the Australian Mathematical Society. Series B. Applied Mathematics |
| Том | 31 |
| Первая страница | 1 |
| Последняя страница | 28 |
| Аффилиация | Tan H. H.; University of Adelaide |
| Аффилиация | Potts R. B.; University of Adelaide |
| Выпуск | 1 |
