Application of a dynamic programming algorithm for trajectory planning of finger‐like manipulators

Nitish V Thakor, Martin A. McNeela

Research output: Contribution to journalArticle

Abstract

Dextrous hand designs require planning and coordination of multijointed fingers. This communication presents a dynamic programming algorithm to optimize the trajectory of a finger or a fingerlike manipulator. The algorithm generates a minimum cost trajectory for a specified cost function (such as accuracy or time of travel) and a set of constraints (such as obstacles along the trajectory). We present simulations demonstrating the trajectory planning for simplified fingerlike manipulator configurations. This approach is potentially applicable to several additional situations faced by multijointed fingers employed in dextrous hand designs, such as complex trajectory planning, obstacle avoidance, and fault tolerance. We illustrate some results obtained by computer simulations of these problems.

Original languageEnglish (US)
Pages (from-to)341-354
Number of pages14
JournalJournal of Robotic Systems
Volume4
Issue number3
DOIs
StatePublished - 1987

ASJC Scopus subject areas

  • Control and Systems Engineering

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