Abstract

This paper describes the formulation of a position and motion planning problem in an optimization setting. Emphasis is placed on planning movements in a confined workspace where contacts must be avoided. The formulation includes the possibility of extra degrees of freedom and is demonstrated in detail on a simple robot problem. Robot positioning and trajectory planning are considered within a two dimensional workspace and a recursive quadratic programming procedure is used for the optimization. The results presented herein show satisfactory performance and considerable promise for extension to more complex configurations and three dimensions.

This content is only available via PDF.
You do not currently have access to this content.