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Cell-to-Cell Mapping Method for Time-Optimal Trajectory Planning of Multiple Robot Arm Systems
Fei-Yue Wang; Xiaoyun Fan
1995
发表期刊Journal of Optimization Theory and Applications
卷号86期号:2页码:347-368
摘要This paper presents the results obtained by applying the cellto-
cell mapping method to solve the problem of the time-optimal trajectory
planning for coordinated multiple robotic arms handling a common
object along a specified geometric path. Based on the structure of the
time-optimal trajectory control law, the continuous dynamic model of
multiple arms is first approximated by a discrete and finite cell-to-cell
mapping on a two-dimensional cell space over a phase plane. The optimal
trajectory and the corresponding control are then determined by
using the cell-to-cell mapping and a simple search algorithm. To further
improve the computational efficiency and to allow for parallel computation,
a hierarchical search algorithm consisting of a multiple-variable
optimization on the top level and a number of cell-to-cell searches on
the bottom level is proposed and implemented in the paper. Besides
its simplicity, another distinguishing feature of the cell-to-cell mapping
method is the generation of all optimal trajectories for a given final state
and all possible initial states through a single searching process. For
most of the existing trajectory planning methods, the planning process
can be started only when both the initial and final states have been
specified. The cell-to-cell method can be generalized to any optimal
trajectory planning problem for a multiple robotic arms system.
关键词Cell-to-cell Mapping Coordinated Robotic Manipulators Hierarchical Searching Algorithm Optimal Trajectory Generation.
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/14896
专题09年以前成果
推荐引用方式
GB/T 7714
Fei-Yue Wang,Xiaoyun Fan. Cell-to-Cell Mapping Method for Time-Optimal Trajectory Planning of Multiple Robot Arm Systems[J]. Journal of Optimization Theory and Applications,1995,86(2):347-368.
APA Fei-Yue Wang,&Xiaoyun Fan.(1995).Cell-to-Cell Mapping Method for Time-Optimal Trajectory Planning of Multiple Robot Arm Systems.Journal of Optimization Theory and Applications,86(2),347-368.
MLA Fei-Yue Wang,et al."Cell-to-Cell Mapping Method for Time-Optimal Trajectory Planning of Multiple Robot Arm Systems".Journal of Optimization Theory and Applications 86.2(1995):347-368.
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