APPLICATION OF DYNAMIC PROGRAMMING TO ROBOT KINEMATICS.

Nitish V. Thakor, Martin McNeela

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The authors present a dynamic programming (DP) algorithm to calculate robot manipulator kinematics and plan optimized trajectories. The algorithm optimizes desirable cost functions such as absolute accuracy or time of travel. They show that when necessary, suboptimal (higher cost) alternative can be advantageously accepted. For example, if an optimal trajectory is blocked by an obstacle, the robot can reach the destination by following a suboptimal path. The authors also present computer simulations of many diverse applications of DP to robot kinematic problems. The DP algorithm requires more computations than conventional techniques, but permits optimization of objective criteria and flexibility in path planning.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages679-683
Number of pages5
ISBN (Print)0818606959
StatePublished - Jan 1 1986

ASJC Scopus subject areas

  • Engineering(all)

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