Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints.

Liu, Tianyu; Cui, Jingkai; Li, Yanhui; Gao, Siyuan; Zhu, Mingchao; Chen, Liheng

Liu, Tianyu; Cui, Jingkai; Li, Yanhui; Gao, Siyuan; Zhu, Mingchao; Chen, Liheng.

Afiliação

Liu T; CAS Key Laboratory of On-Orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China.
Cui J; School of Optoelectronics, University of Chinese Academy of Sciences, Beijing 100049, China.
Li Y; CAS Key Laboratory of On-Orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China.
Gao S; School of Optoelectronics, University of Chinese Academy of Sciences, Beijing 100049, China.
Zhu M; CAS Key Laboratory of On-Orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China.
Chen L; CAS Key Laboratory of On-Orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China.

Sensors (Basel) ; 23(6)2023 Mar 13.

Article em En | MEDLINE | ID: mdl-36991787

Palavras-chave

asymmetric S-curve velocity scheduling; kinematic constraints; redundant manipulators; trajectory planning; whale optimization algorithm

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Texto completo: 1 Coleções: 01-internacional Base de dados: MEDLINE Tipo de estudo: Prognostic_studies Idioma: En Revista: Sensors (Basel) Ano de publicação: 2023 Tipo de documento: Article

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