4. Trajectory Generation

  1. Etienne Dombre and
  2. Wisama Khalil
  1. Moussa Haddad,
  2. Taha Chettibi,
  3. Wisama Khalil and
  4. Halim Lehtihet

Published Online: 5 JAN 2010

DOI: 10.1002/9780470612286.ch4

Modeling, Performance Analysis and Control of Robot Manipulators

Modeling, Performance Analysis and Control of Robot Manipulators

How to Cite

Haddad, M., Chettibi, T., Khalil, W. and Lehtihet, H. (2007) Trajectory Generation, in Modeling, Performance Analysis and Control of Robot Manipulators (eds E. Dombre and W. Khalil), ISTE, London, UK. doi: 10.1002/9780470612286.ch4

Publication History

  1. Published Online: 5 JAN 2010
  2. Published Print: 1 JAN 2007

ISBN Information

Print ISBN: 9781905209101

Online ISBN: 9780470612286

SEARCH

Keywords:

  • polynomial model;
  • problem statement;
  • handling kinodynamic constraints;
  • trapezoidal profiles;
  • dof robot

Summary

This chapter contains sections titled:

  • Introduction

  • Point-to-point trajectory in the joint space under kinematic constraints

  • Point-to-point trajectory in the task-space under kinematic constraints

  • Trajectory generation under kinodynamic constraints

  • Examples

  • Conclusion

  • Bibliography

  • Appendix: Stochastic Optimization Techniques

  • Further reading