Cell-to-Cell Mapping Method for Time-Optimal Trajectory Planning of Multiple Robot Arm Systems

CASIA OpenIR > 09年以前成果

	Cell-to-Cell Mapping Method for Time-Optimal Trajectory Planning of Multiple Robot Arm Systems
	Fei-Yue Wang; Xiaoyun Fan
发表期刊	Journal of Optimization Theory and Applications
	1995
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/173211/15033
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.