ANALYTIC CLOSED-FORM SOLUTIONS FOR SUBOPTIMAL TRAJECTORY PLANNING OF SINGLE-LINK FLEXIBLE-JOINT ROBOT ARMS

被引：3

作者：

CHEN, GR

机构：

[1] Department of Electrical Engineering, University of Houston, Houston

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1992年 / 8卷 / 05期

关键词：

D O I：

10.1109/70.163790

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a suboptimal trajectory planning problem for single-link flexible-joint robot arms is studied. A global feedback-linearization technique is first applied to reformulate the nonlinear constrained optimization as a suboptimal interpolation problem. Then the unique analytic suboptimal solution for the problem is obtained in closed form.

引用

页码：658 / 662

页数：5