Oncomputingtheglobaltimeoptimalmotionsofroboticmanipulators
methodforcomputingthetime-optimalmotionsorroboticmanipulatorsispresentedthatconsidersthenonlinearmanipulatordynamics,actuatorconstraints,jointlimits,andobstacles.Usingapreviouslydevelopedmethodforcomputingthetime-optimalmotionsalongspecifiedpaths,theoptimizationproblemisreducedtoasearchfor
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