This paper presents a twice planning approach to solving minimum-timetrajectory planning problem for robotic manipulators. Pre-planning is performed on the specified path.
本文针对机器人最小时间轨迹规划问题提出了一种二次规划的优化方法。
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Firstly the optimal control problem of minimum-time strike trajectory was translated into two-point-boundary-value problem by using Pontryagin maximum principle.