A Semi-Infinte Optimization Approach to Optimal Spline Trajectory Planning of Mechanical Manipulators

  • Corrado Guarino Lo Bianco
  • Aurelio Piazzi
Part of the Nonconvex Optimization and Its Applications book series (NOIA, volume 57)


The paper deals with the problem of optimal trajectory planning for rigid links industrial manipulators. According with actual industrial requirements, a technique for planning minimum-time spline trajectories under dynamics and kinematics constraints is proposed. More precisely, the evaluated trajectories, parametrized by means of cubic splines, have to satisfy joint torques and end-effector Cartesian velocities within given bounds. The problem solution is obtained by means of an hybrid genetic/interval algorithm for semi-infinite optimization. This algorithm provides an estimated global minimizer whose feasibility is guaranteed by the use of a deterministic interval procedure; i.e., a routine based on concepts of interval analysis. The proposed approach is tested by planning a 10 via points movement for a two link manipulator.


Interval Procedure Joint Torque Interval Analysis Trajectory Planning Redundant Manipulator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Science+Business Media Dordrecht 2001

Authors and Affiliations

  • Corrado Guarino Lo Bianco
    • 1
  • Aurelio Piazzi
    • 1
  1. 1.Dipartimento di Ingegneria dell’InformazioneUniversità di ParmaParmaItaly

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