ON THE OPTIMAL PATH GENERATION FOR REDUNDANT ROBOT MANIPULATORS

In this paper the optimal path generation of redundant robot manipulators is considered as an optimization (energy) problem, with given kinematics and subject to the robot requirements and a singularities avoidance constraint. A local and a global approach are presented for its solution. In the local approach a simple nonlinear programming problem is formulated and a closed form solution is obtained. This solution can be implemented to allow sensor interaction in real time. In the global approach a state constrained continuous optimal control problem is considered which can solved by an efficient iterative numerical technique.

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