Publication
Multifrequency computational optimization of robot path planning algorithms
| Summary: | The computational burden of robot trajectory planning algorithms may be significant, namely when the inverse kinematics is required. Nevertheless, the variables involved have distinct bandwidths. Therefore, they have different effects upon the final result and we can adopt a multifrequency strategy for the calculations, namely using different frequencies for the robot joint positions, velocities and accelarations. In the line of thought, this paper compares a multirate trajectory planning scheme in the cartesin space in contrast with the classical monofrequency claculation strategy. |
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| Main Authors: | Tenreiro Machado, J. A. |
| Other Authors: | Cordeiro, Carla S. M.; Horváth, L.; Tar, József |
| Subject: | Path planning Multirate sampling Computational load Optimization |
| Year: | 1999 |
| Country: | Portugal |
| Document type: | conference output |
| Access type: | open access |
| Associated institution: | Instituto Politécnico do Porto |
| Language: | English |
| Origin: | Repositório Científico do Instituto Politécnico do Porto |
| Summary: | The computational burden of robot trajectory planning algorithms may be significant, namely when the inverse kinematics is required. Nevertheless, the variables involved have distinct bandwidths. Therefore, they have different effects upon the final result and we can adopt a multifrequency strategy for the calculations, namely using different frequencies for the robot joint positions, velocities and accelarations. In the line of thought, this paper compares a multirate trajectory planning scheme in the cartesin space in contrast with the classical monofrequency claculation strategy. |
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