The DOI matches its Crossref record; 5 of the 5 references it cites were found in a registry or an index.
A concept for manipulator trajectory planning
Abstract
A way to find the optimal trajectory of an arbitrary manipulator following a prescribed path is described. The method takes advantage of the fact that in this case overall motion takes place with one degree of freedom (DOF) only. Transforming the equations of motion to this one DOF results in a set of equations which defines the phase space of admissible motion constrained by path geometry and joint torques in a transparent way. The time optimal solution representing the maximum mobility of the path-manipulator configuration can be easily determined by a field of extremals bound by a maximum velocity curve, which acts as a trajectory source or sink. Its properties lead to an algorithm for evaluating the time-minimum curve from a sequence of accelerating/ decelerating extremals. Additional optimizing criteria are studied by applying Bellman's principle.
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Cites
Freimer, M., Bellman, R. E., & Dreyfus, S. E. (1964) · Journal of the American Statistical Association · doi:10.2307/2282884 · Cited by 2,153
Bellman, R. E., & Dreyfus, S. E. (1962) · Princeton University Press eBooks · doi:10.1515/9781400874651 · Cited by 1,971
Time-Optimal Control of Robotic Manipulators Along Specified Paths
Bobrow, J. E., Dubowsky, S., & Gibson, J. S. (1985) · The International Journal of Robotics Research · doi:10.1177/027836498500400301 · Cited by 1,315
Minimum-time control of robotic manipulators with geometric path constraints
Shin, K., & McKay, N. (1985) · IEEE Transactions on Automatic Control · doi:10.1109/tac.1985.1104009 · Cited by 996
Dynamic Scaling of Manipulator Trajectories
Hollerbach, J. M. (1984) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3149652 · Cited by 338
Cited by
A survey on hybrid human-artificial intelligence for autonomous driving
Ning, H., Yin, R., Ullah, A., & Shi, F. (2022) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2021.3074695 · Cited by 84
Metadata
- Authors
- Pfeiffer, F., & Johanni, R.
- Venue
- IEEE Journal on Robotics and Automation
- Published
- 1987-04
- Volume
- 3
- Issue
- 2
- Pages
- 115-123
- ISSN
- 0882-4967 (ISSN-L)
- OpenAlex
- W2155612543
- Cited by
- 478
- References
- 5
- FWCI
- 22.74
- Type
- journal article
- Language
- en
- Open access
- closed
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- Pfeiffer, F., & Johanni, R. (1987). A concept for manipulator trajectory planning. IEEE Journal on Robotics and Automation. https://doi.org/10.1109/jra.1987.1087090
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
