An Optimal Control Approach to the Minimum-Time Trajectory Planning of Robotic Manipulators.
Matteo MassaroStefano LovatoMatteo BottinGiulio RosatiPublished in: Robotics (2023)
Keyphrases
- optimal control
- trajectory planning
- robotic manipulator
- robot manipulators
- control scheme
- control strategy
- motion planning
- degrees of freedom
- end effector
- obstacle avoidance
- control law
- path planning
- control system
- force control
- dynamic programming
- dynamic environments
- control algorithm
- optimal control problems
- visual servoing
- inverse kinematics
- control method
- reinforcement learning
- robotic systems
- pid controller
- mobile robot
- control strategies
- robot arm
- dynamic model
- position control
- real time
- fuzzy neural network
- situational awareness
- closed loop
- fuzzy controller
- viewpoint