Integration of Optimal Control and Path Planning in a Robot Manipulator

T. Martínez-Marín, P.J. Zufiria, and T. Calderón (Spain)


Cell-to-cell mapping, Optimal control, Optimal motion planning, Robotics.


The optimal control and the optimal path planning of a manipulator are traditionally solved as two independent problems, neglecting the interactions between them. In this paper, we propose a method to obtain the optimal motion of the robot including path planning and control as only one optimisation problem. Hence, we deal in the same frame kinematic, dynamic and obstacle constrains, generating optimal trajectories under an optimisation criterion (minimum time, energy, etc.). We employ an efficient algorithm (CACM) to find the optimal motion laws of a robot manipulator.

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