Actuator Constraints in Optimal Motion Planning of Manipulators

The optimal motion generation problem is solved subject to various actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time energy Jitnction while most of existing methods consider only the time-optimal problem. Wepresent some simulation results using a mathematical programming technique (Sequential Quadratic Programming) existing in the NPSOL sofrware.

• Type: Conference
• Year: 1995
• Where: ICRA
• Authors: Patrick Plédel, Yasmina Bestaoui
• Keywords: ICRA 1995, Motion Generation Problem, Robotics, Sequential Quadratic Programming, Various Actuator Constraints