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

: Dlabka, M.; Zhang, Y.; Held, J.

VDI/VDE-Gesellschaft Meß- und Automatisierungstechnik -GMA-, Düsseldorf:
SYROCO '88. Preprints of the IFAC-Symposium
Düsseldorf, 1988
Symposium on Robot Control (SYROCO) <1988, Karlsruhe>
Conference Paper
Fraunhofer IPK ()
dynamic programming; numerical method; optimal control; robot

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)