Bスプラインの最適化による拘束条件付きの2点境界値変分問題の一解法

概要

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In this paper, the solution of the two-point boundary value variational problem is improved to solve problems with some constraints. The objective function consists of two parts, the original one and the other, named a potential function, connected by a weighting coefficient. The potential function is described as a quadratic function corresponding to constraints. The optimum solution of the variational problem is obtained as a set of control points of a uniform B-spline by parallel and iterative computation. The algorithm is very simple and easily applied to various engineering problems. As an application, trajectory planning of a manipulator with redundant degrees of freedom is considered under the conditions that the end effector path and the constraints of the control or the state variables are specified. The validity of the algorithm is confirmed by numerical examples.
社団法人日本機械学会の論文
1994-12-25