Finding Time-Optimal Trajectories for the Resonating Arm using the RRT* Algorithm
Jan Willem Loeve · Research Repository (Delft University of Technology) · 2012
At the Delft Biorobotics Lab, a research project is started whereby it is the goal to create robotic arms that have the skills and the design to perform repetitive tasks in a natural dynamic manner. Within this project an energy efficient two degree-of-freedom robotic arm is designed, the so-called Resonating Arm. This thesis focuses on finding the time-optimal movements (around obstacles) for the Resonating Arm. These time-optimal trajectories are found with the RRT* algorithm, a novel asymptotic optimal motion planning algorithm.