Robot Path Planning with Obstacles, Actuator, Gripper, and Payload Constraints

Zvi Shiller, Steven Dubowsky

Research output: Contribution to journalArticlepeer-review

110 Scopus citations


A method is presented to obtain the time-optimal motions for robotic manipulators. It considers the full nonlinear dy namics of the manipulator, its actuator saturation limits, and gripper and payload constraints. It also accounts for both the presence of obstacles in the work space and restrictions on the motion of the manipulator's joints. The method is com putationally practical and has been implemented for the optimal trajectory planning of general six degree-of-freedom manipulators. Examples are presented that demonstrate the substantial improvement in manipulator performance that can be achieved using this method.

Original languageEnglish
Pages (from-to)3-18
Number of pages16
JournalInternational Journal of Robotics Research
Issue number6
StatePublished - Dec 1989
Externally publishedYes


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