| contributor author | G. J. Wiens | |
| contributor author | M. J. Berggren | |
| date accessioned | 2017-05-08T23:34:59Z | |
| date available | 2017-05-08T23:34:59Z | |
| date copyright | December, 1991 | |
| date issued | 1991 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26176#748_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/108243 | |
| description abstract | An algorithm has been presented in which the role of inertia sensitivities in path planning of robots is investigated. The main objective is to obtain a path, from point A to point B in joint coordinates, in which the nonlinear forces (centripetal and Coriolis) are minimized. Using standard optimization theory, an objective (“cost”) function is selected to include energy and nonlinear forces for minimization. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Suboptimal Path Planning of Robots: Minimal Nonlinear Forces and Energy | |
| type | Journal Paper | |
| journal volume | 113 | |
| journal issue | 4 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2896486 | |
| journal fristpage | 748 | |
| journal lastpage | 752 | |
| identifier eissn | 1528-9028 | |
| keywords | Force | |
| keywords | Robots | |
| keywords | Path planning | |
| keywords | Inertia (Mechanics) | |
| keywords | Algorithms AND Optimization | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1991:;volume( 113 ):;issue: 004 | |
| contenttype | Fulltext | |