A method for computing the optimal motions of robot manipulators in the presence of moving
obstacles is presented. The algorithm considers the nonlinear manipulator dynamics …

Introduces a revolutionary, quadratic-programming based approach to solving long-standing
problems in motion planning and control of redundant manipulators This book describes a …

In this paper we discuss the problem of verifying and computing optimal controls of systems
whose dynamics is governed by differential systems with a discontinuous right-hand side. In …

Swing-up of a rotating type pendulum from the pendant to the inverted state is known to be
one of most difficult control problems, since the system is nonlinear, underactuated, and has …

In this study, an iterative method for computing the time-optimal point-to-point control of robot
manipulators is studied, subject to limits on the actuator torques and actuator jerks. This …

To be competitive, an industrial robot picking fruits must be able to perform this task in an
amount of time which compares to that needed by humans. Because the location of a fruit …

NUMERICAL trajectory optimization has attracted the attention of the research community
from diverse fields such as aerospace engineering, robotics, chemical engineering, and …

A numerical procedure to compute nonsingular, time-optimal solutions for nonlinear
systems, which have fixed initial and final states, and are linear and bounded in control, is …

Presents the exact solution to the minimum-time optimal control problem of a single-degree-
of-freedom (DOF) mechanical systems with friction. In particular, the optimal control input …

Time-optimal controls for 2-link robots are often of bang-bang type. Many algorithms to solve
time-optimal robot control problems a-priori assume the optimal control to be bang-bang …