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


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
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In