DESIGN OF TIME--FUEL OPTIMAL TRAJECTORY PLANNER FOR ROBOT MANIPULATOR
Wenxi Li · Robot · 1990
This paper presents a scheme for the optimal time-fuel trajectory planner designed by dynamic programming.In the design, parameters are chosen suitably, therefore the state space of N-jointed manipulators is restricted totwo dimensions. Then it does not require a lot of memory and too much computation time for dynamic pro-gramming. As numerical examples, the method is simulated for the first three joints of the robot manipulators. Theresults show us it is faily good.