Analytic closed-form solutions for suboptimal trajectory planning of single-link flexible-joint robot arms

摘要

A suboptimal trajectory planning problem for single-link flexible-joint robot arms is studied. A global feedback-linearization technique is first applied to reformulate the nonlinear constrained optimization as a suboptimal interpolation problem. Then the unique analytic suboptimal solution for the problem is obtained in closed form. Simulation results are given to show the effectiveness of the method.