A Cell Mapping Method for General Optimum Trajectory Planning of Multiple Robotic Arms
文献类型：期刊论文
| 作者 | Fei-Yue Wang ; Paul J. A. Lever
|
| 刊名 | Journal of Robotic and Autonomous Systems
 |
| 出版日期 | 1994 |
| 卷号 | 12期号:1页码:15-27 |
| 关键词 | Cell Mapping Computational Complexity Energy-optimal Trajectory Hierarchical Search Jerk-optimal Trajectory Multiple Arms Time-optimal Trajectory Trajectory Planning |
| 英文摘要 | This paper proposes a method that uses cell state space and cell mapping based techniques for planning general optimum trajectories along given geometric paths for coordinated multiple robotic arm systems. The major advantages of this method include its simplicity and applicability to a wide range of problem formulations. In particular, three performance indices for optimum trajectory specification are investigated, i.e., minimum-energy, minimum-jerk, and minimum-time formulations. A simple search strategy is constructed using cell-to-cell mapping to find optimum trajectories. A special feature of this search algorithm is its ability to generate all optimum trajectories for all possible initial conditions through a single search. The computational complexity is analyzed for the search algorithm and its hierarchical implementation. Parallel execution of the hierarchical search method is discussed and the results indicate that it can improve the cell-mapping search efficiency significantly. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/14901]  |
| 专题 | 自动化研究所_09年以前成果 |
| 推荐引用方式 GB/T 7714 | Fei-Yue Wang,Paul J. A. Lever. A Cell Mapping Method for General Optimum Trajectory Planning of Multiple Robotic Arms[J]. Journal of Robotic and Autonomous Systems,1994,12(1):15-27. |
| APA | Fei-Yue Wang,&Paul J. A. Lever.(1994).A Cell Mapping Method for General Optimum Trajectory Planning of Multiple Robotic Arms.Journal of Robotic and Autonomous Systems,12(1),15-27. |
| MLA | Fei-Yue Wang,et al."A Cell Mapping Method for General Optimum Trajectory Planning of Multiple Robotic Arms".Journal of Robotic and Autonomous Systems 12.1(1994):15-27. |
入库方式： OAI收割
来源：自动化研究所
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