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TECHNICAL BRIEFS

Suboptimal Path Planning of Robots: Minimal Nonlinear Forces and Energy

[+] Author and Article Information
G. J. Wiens

Mechanical Engineering Department, Auburn University, Auburn, AL 36849

M. J. Berggren

CNSF, Cornell University, Ithaca, NY 14853-2602

J. Dyn. Sys., Meas., Control 113(4), 748-752 (Dec 01, 1991) (5 pages) doi:10.1115/1.2896486 History: Received October 01, 1988; Revised March 04, 1991; Online March 17, 2008

Abstract

An algorithm has been presented in which the role of inertia sensitivities in path planning of robots is investigated. The main objective is to obtain a path, from point A to point B in joint coordinates, in which the nonlinear forces (centripetal and Coriolis) are minimized. Using standard optimization theory, an objective (“cost”) function is selected to include energy and nonlinear forces for minimization.

Copyright © 1991 by The American Society of Mechanical Engineers
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