Optimal motion planning of redundant planar serial robots using a synergy-based approach of convex optimization, disjunctive programming and receding horizon
Abstract:This paper is focused on the optimal motion planning of redundant planar serial robots, by avoiding obstacles within its workspace. A synergy-based algorithm between convex optimization, disjunctive programming and receding horizon is proposed to the end of achieving advantages such as finding the global optimum solution and low computational time. For the purpose of the problem, different cost functions can be considered, including among others, transition time, energy usage or path length. In addition, kinem… Show more
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