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机译:Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems
Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Barcelona, Spain;
Systems Control and Optimization Laboratory, Department of Microsystems Engineering, University of Freiburg, Freiburg, Germany;
Systems Control and Optimization Laboratory, Department of Microsystems Engineering (IMTEK) and Department of Mathematics, University of Freiburg, Freiburg, Germany;
Trajectory; Manifolds; Robot kinematics; Kinematics; System dynamics; Mathematical models; Collision avoidance;