<title>Time-optimal trajectory generation for coordinated robotic manipulators using cell-to-cell mapping method</title>

摘要

The method of cell-to-cell mapping for nonlinear dynamics analysis has been receiving increasing attention in recent years. The possibility of using cell-to-cell mapping for optimal control problems has also been explored by several researchers. In this paper we present results of applying cell-to-cell mapping methods to solve the problem of optimal trajectory generation for coordinated robotic manipulators handling a common object along specified geometric paths. This method uses the cell state concept together with discretized controls and cost functions. The optimal trajectories and the corresponding controls are determined by using the cell-to-cell mapping in a simple search process.