Configuration Space Motion Planning for a RoboticManipulator : Using Optimization Methods for Multipoint Trajectories and a Virtual Vechicle Approach for Work Space Constraints
A common method to design trajectories is by cubic splines to interpolate a set of via-points for a robot. The trajectories are optimized with respect to an objective function including the total time with a set of kinematic constraints. The execution time for this problem is longer then the samplin...
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| Format: | Others |
| Language: | English |
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KTH, Optimeringslära och systemteori
2014
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| Online Access: | http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-156416 |