Single step optimization of feedback-decoupled collision avoidance manipulator maneuversSimultaneous robot path planning and path following is shown to be achievable in the presence of motor saturation and obstacle avoidance requirements. The discrete time algorithm derived performs one step ahead mean square optimization of commanded joint accelerations, subject to present actuator force or torque constraints and N step ahead prediction of configuration constraints.
Document ID
19870026153
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Chen, N. (Illinois Univ. Urbana, IL, United States)
Dwyer, T. A. W., III (Illinois, University Urbana, United States)
Fadali, M. S. (Nevada, University Reno, United States)