This paper presents a new method to plan minimum cost movements for non-redundant robotic manipulators along prescribed geometricpaths while tacking into account various kinodynamic constraints. The problem consists ...
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This paper presents a new method to plan minimum cost movements for non-redundant robotic manipulators along prescribed geometricpaths while tacking into account various kinodynamic constraints. The problem consists of defining the best way to follow a prescribed geometricpath under several constraints, such as limitations on joint torque, jerk, acceleration or velocity, while minimizing an objective function (time transfer, mean average of joint torques, etc.). It is formulated as a non-linear optimization problem and can be then treated by any adequate mathematical optimization method. Numerical examples using genetic algorithms are presented to illustrate the effectiveness of the proposed approach. (C) 2006 Elsevier Ltd. All rights reserved.
The problem of finding shortest 0-gentle paths can be stated as follows: given two points p, q on a polyhedral terrain and a slope parameter 0 e (0, n /2), the objective is to find a path joining p and q on the terrai...
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The problem of finding shortest 0-gentle paths can be stated as follows: given two points p, q on a polyhedral terrain and a slope parameter 0 e (0, n /2), the objective is to find a path joining p and q on the terrain which is shortest such that the slope of the path does not exceed 0. In this paper, we introduce some geometric and analysis properties of such paths and answer the question of whether known results of classical shortest paths hold for shortest 0-gentle paths. An algorithm for approximately computing such shortest 0-gentle paths on terrains is presented, where an approximate shortest 0-gentle path joining two points is a 0-gentle path whose length is the infimum of a sequence of that of 0-gentle paths in which they are decreasing. We also show that the sequence of lengths of paths obtained by the proposed algorithm is convergent. The algorithm is implemented in C++ using CGAL and Open GL in some specific circumstances.
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