Optimum Trajectory Planning for Redundant Manipulators Through Inverse Dynamics

  • Kagan Ayten

Student thesis: Doctoral ThesisPhD


The purpose of this thesis is to develop methods to generate minimum-energy consumption trajectories for a point-to-point motion under pre-defined kinematic and dynamic constraints for robotic manipulators. With respect to other trajectory optimization methods, the work presented in this thesis provides two new methods to the scientific literature. The proposed methods improve the handling of the constraints in trajectory optimization methods as well as reducing the computational complexity of redundant/hyper-redundant manipulator systems.
Date of Award1 Dec 2012
Original languageEnglish
Awarding Institution
  • University of Bath
SupervisorMehmet Sahinkaya (Supervisor) & Pejman Iravani (Supervisor)


  • redundant
  • hyper-redundant
  • optimization

Cite this