Real time optimum trajectory generation for redundant/hyper-redundant serial industrial manipulators
This article presents an optimization technique to develop minimum energy consumption trajectories for redundant/hyper-redundant manipulators with predefined kinematic and dynamic constraints. The optimization technique presents and combines two novel methods for trajectory optimization. In the firs...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2017-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881417737241 |