B-spline parameterized optimal motion trajectories for robotic systems with guaranteed constraint satisfaction
When optimizing the performance of constrained robotic system, the motion trajectory plays a crucial role. In this research the motion planning problem for systems that admit a polynomial description of the system dynamics through differential flatness is tackled by parameterizing the system's...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2015-09-01
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| Series: | Mechanical Sciences |
| Online Access: | http://www.mech-sci.net/6/163/2015/ms-6-163-2015.pdf |