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B-spline parameterized optimal motion trajectories for robotic systems with guaranteed constraint satisfaction (2016)

Copernicus

In: Mechanical Sciences

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Publication Date: 2016-01-15

Description: B-spline parameterized optimal motion trajectories for robotic systems with guaranteed constraint satisfaction W. Van Loock, G. Pipeleers, and J. Swevers Mech. Sci., 6, 163-171, doi:10.5194/ms-6-163-2015, 2015 In this research the motion planning problem for systems that admit a polynomial description of the system dynamics through differential flatness is tackled by parameterizing the system's so-called flat output as a piecewise polynomial. Sufficient conditions on the spline coefficients are derived ensuring satisfaction of the operating constraints over the entire time horizon and an intuitive relaxation is proposed to tackle conservatism.

Print ISSN: 2191-9151

Electronic ISSN: 2191-916X

Topics: Physics

Published by Copernicus

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