Model-Predictive-Control-Based Time-Optimal Trajectory Planning of the Distributed Actuation Mechanism Augmented by the Maximum Performance Evaluation
Trajectory planning for a redundant manipulator is a classic problem. However, because it is difficult to precisely evaluate its maximum performance, an optimization method has been typically used. In this study, a novel time-optimal trajectory planning method for a redundant manipulator is proposed...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-08-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/11/16/7513 |