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SINGULAR PATH-CONSTRAINED OPTIMAL TRAJECTORY PLANNING FOR ROBOTIC MANIPULATORS
Author(s): 
Pages: 550-553
Year: Issue:  6
Journal: ROBOT

Keyword:  奇异点奇异路径最优轨迹规划动态规划;
Abstract: 路径约束最优轨迹规划的关键是引入标量路径参数来降低优化问题的维数.当路径穿越奇异点时,由于关节位移难以表示为任务空间路径参数的解析函数,给常规的路径参数化方法带来困难.本文引入一种新的参数化方法,采用路径跟踪方程解曲线的弧长为参数,解决了奇异点邻域的路径跟踪问题,把奇异路径轨迹规划转化为常规规划问题,并采用动态规划方法求解轨迹规划问题.仿真表明,本文提出的参数化方法与动态规划结合起来,是解决奇异路径最优轨迹规划的有效途径.
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