Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Engineering
Planning Optimal Robot Trajectories By Cell Mapping, W. H. Zhu, Ming-Chuan Leu
Planning Optimal Robot Trajectories By Cell Mapping, W. H. Zhu, Ming-Chuan Leu
Mechanical and Aerospace Engineering Faculty Research & Creative Works
A cell-mapping method is introduced for planning global trajectories of robotic manipulators in cases where the cell space is composed of combination pairs of plane cells. With the proposed method, optimal trajectory problems in the free field and in the obstacle-constrained field are studied. Two numerical examples are given to show the obtained optimal trajectories and controls.