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  4. A practical approach for planning an realization of optimal trajectories for industrial robots
 
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1988
Conference Paper
Title

A practical approach for planning an realization of optimal trajectories for industrial robots

Abstract
The paper presents a practical solution of the optimal trajectory planning task for robot motions. The method is applicable for any type of robot and Point to Point (PTP) motions. The numerical algorithm allows the consideration of a wide class of cost functions as well as task and robot specific restrictions. Results of the applied optimization methods in comparison with conventional trajectory planning are presented. (IPK)
Author(s)
Dlabka, M.
Zhang, Y.
Held, J.
Mainwork
SYROCO '88. Preprints of the IFAC-Symposium  
Conference
Symposium on Robot Control (SYROCO) 1988  
Language
English
Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK  
Keyword(s)
  • dynamic programming

  • numerical method

  • optimal control

  • robot

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