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A numerical approach for time-optimal path-planning of kinematically redundant manipulators*

Published online by Cambridge University Press:  09 March 2009

Chia-Ju Wu
Chia-Ju Wu
Affiliation:
Department of Electrical Engineering, National Yunlin Institute of Technology, Touliu, Yunlin 640(Taiwan, R.O.C.)
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Summary

In this paper, a numerical approach is proposed to solve the time-optimal path-planning (TOPP) problem of kinematically redundant manipulators between two end-points. The first step is to transform the TOPP problem into a nonlinear programming problem by an iterative procedure. Then an approach to find the initial feasible solutions of the problem is proposed. Since initial feasible solutions can be found easily, the optimization process of the nonlinear programming problem can be started from different points to find the global minimum. A planar three-link robotic manipulator is used to illustrate the validity of the proposed approach.

Keywords

Time-optimal path-planningRedundant manipulators; Nonlinear programmingNumerical methods
Type
Article
Information
Robotica , Volume 12 , Issue 5 , September 1994 , pp. 401 - 410
Copyright
Copyright © Cambridge University Press 1994

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