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• W2149180420 abstract "Optimum path planning algorithms for robot manipulators are presented. It is assumed that a manipulator is working in an environment that contains a static obstacle or another manipulator. A collision avoidance strategy is developed based on a simplified representation of the robot arm. The two different path planning problems addressed are the minimum-time path planning and the minimum-energy path planning. These problems are solved using a variational approach called the method of local variations (MLV). This method finds a solution to the optimal control problem iteratively under constraints on state and control variables. To solve these problems, a collision-free path is first chosen. Then the MLV is applied based on a discrete-time state-space model of the manipulator. The collision checking strategy is incorporated in the variational structure to obtain the optimal paths. The proposed algorithms are tested through digital computer simulations.< <ETX xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>></ETX>" @default.
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• W2149180420 date "1993-01-01" @default.
• W2149180420 modified "2023-09-28" @default.
• W2149180420 title "Optimum path planning for robot manipulators amid static and dynamic obstacles" @default.
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• W2149180420 doi "https://doi.org/10.1109/21.229471" @default.
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