Two link planar manipulator trajectory planning
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Hi everyone, I don't understand how I can solve this problem:
I have the initial and the final position on both links and I want to find a path which minimize this cost function: in particular I want to find m points in order to find the optimal trajectory
where
How can solve this problem using fmincon?
thanks
10 件のコメント
darova
2020 年 4 月 26 日
Please attach more informations. Show the picture. DO you have one?
Daniele1
2020 年 4 月 26 日
this is the system: theta1 and theta2 at t0 end tf are known (t0 is the initial time, tf is the final one).
Daniele1
2020 年 4 月 26 日
darova
2020 年 4 月 26 日
Something is missing. Do you know how to find 
?
?How to find θ for t2?
Daniele1
2020 年 4 月 26 日
darova
2020 年 4 月 26 日
- I have the initial and the final position on both links
Do you have angles? Or it's only x y?
Daniele1
2020 年 4 月 26 日
darova
2020 年 4 月 26 日
I think optimal value will be just difference 
Daniele1
2020 年 4 月 26 日
darova
2020 年 4 月 26 日
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