caa a22 4500 465797644 CHVBK 20180323112042.0 cr unu---uuuuu 170327e19900901xx s 000 0 eng 10.1007/BF00126072 doi (NATIONALLICENCE)springer-10.1007/BF00126072 Optimal path planning including forces at the gripper [Elektronische Daten] [F. Pfeiffer, K. Richter] In recent years, a topological method has been established by several authors for the evaluation of time-optimal trajectories for manipulators with tree-like structures and without forces at the gripper, i.e. for free trajectories. In the following, we extend this method to the case of an arbitrary force vector at the robot's hand, which corresponds to some path in contact with a surface. Optimizing the actuator torques in such a way might be seen as a first step to controlling trajectories with regard to position, orientation, and forces in the presence of elasticity. Results of the method confirm the basic ideas of the topological solution. Kluwer Academic Publishers, 1990 Robot path planning nationallicence time-optimization nationallicence force control nationallicence Pfeiffer F. Technische Universität München, Postfach 202420, 8000, Munich, Germany aut Richter K. Technische Universität München, Postfach 202420, 8000, Munich, Germany aut Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/3(1990-09-01), 251-258 0921-0296 3:3<251 1990 3 10846 https://doi.org/10.1007/BF00126072 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF00126072 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Pfeiffer F. Technische Universität München, Postfach 202420, 8000, Munich, Germany aut NATIONALLICENCE 700 1- Richter K. Technische Universität München, Postfach 202420, 8000, Munich, Germany aut NATIONALLICENCE 773 0- Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/3(1990-09-01), 251-258 0921-0296 3:3<251 1990 3 10846 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer