Linear programming: active set analysis and computer programs
Linear programming: active set analysis and computer programs
Practical methods of optimization; (2nd ed.)
Practical methods of optimization; (2nd ed.)
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
| Hi-index | 0.00 |
This paper demonstrates the convergence stability and the actual usefulness of the gradient-based motion optimizations for manipulator arms. An optimal motion-planning problem is converted into a finite-dimensional nonlinear programming problem that utilizes cubic or quintic B-splines as basis functions. This study shows that the numerically calculated gradient is a useful tool in finding minimum torque, minimum energy, minimum overload, and minimum time motions for manipulator arms in the presence of static or moving obstacles. A spatial 6-link manipulator is simulated without simplifying any of the kinematic, dynamic or geometric properties of the manipulator or obstacles.