Synthesis of a minimum-time manipulator trajectories with geometric path constraints using time scaling.
Hiroaki OzakiAkira MohriPublished in: Robotica (1988)
Keyphrases
- geometric constraints
- minimum cost
- configuration space
- degrees of freedom
- constraint satisfaction
- moving objects
- real time
- constrained optimization
- control method
- program synthesis
- physical constraints
- collision free
- linear constraints
- geometric structure
- epipolar geometry
- shortest path
- linear programming
- spatio temporal
- computer vision