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Solving robot trajectory planning problems with uniform cubic B‐splines
Author(s) -
Chen YaoChon
Publication year - 1991
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.4660120404
Subject(s) - trajectory , optimal control , mathematical optimization , trajectory optimization , state (computer science) , robot , control theory (sociology) , control (management) , mathematics , motion planning , computer science , algorithm , artificial intelligence , physics , astronomy
Uniform cubic B‐splines are applied to solve the optimal trajectory planning problem for robotic manipulators. It is first shown that the trajectory planning problem can be formulated as an optimal control problem with state and control constraints. The resulting optimal control problem is then solved numerically.