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Optimal trajectories of robot arms minimizing constrained actuators and travelling time

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2 Author(s)
Bessonnet, G. ; Lab. de Mecanique des Solides, Poitiers Univ., France ; Lallemand, J.P.

Dynamic optimization of the motion of a robot arm is carried out using the Pontryagin maximum principle. A mixed performance index involving travel time and bounded actuators is minimized to obtain a near-minimum traveling time and continuous output. One can avoid, in that case, actuating effort jumps and arm jerks. A full dynamic model formulated with Hamiltonian variables is used. This model, together with the optimality conditions, leads to a two-point boundary value problem which is solved by combining a gradient algorithm and a shooting method

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990