The optimal trajectory planning problem for planar n-link (n=2,3) revolute manipulators in the presence of obstacles is considered. A method for modeling the obstacles is proposed. Through the proposed method, closed-form approximations of obstacles in terms of the generalized coordinates of the manipulator are obtained. These expressions are then used to formulate the optimal trajectory planning problem as an optimal control problem in constrained state space. The resulting optimal control problem is then solved numerically. >
['Yao‐Chon Chen', 'M. Vidyasagar']
Optimal trajectory planning for planar n-link revolute manipulators in the presence of obstacles