Optimal path planning for multi-arm, multi-link robotic manipulators
This work investigates the problem of robotic arm control with the goal of achieving given performance requirements by solving for the optimal joint trajectories and corresponding controls for tasks, such as point-to-point positioning. The resulting optimal control problem is highly nonlinear and...
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Monterey, California. Naval Postgraduate School
2012
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| Online Access: | http://hdl.handle.net/10945/3687 |