Title: Finding a Feasible Initial Solution for Flatness-Based Multi-Link Manipulator Motion Planning under State and Control Constraints,
Abstract: In this paper, we present a method to initialize at a feasible point and
unfailingly solve a non-convex optimization problem in which a set-point motion
is planned for a multi-link manipulator under state and control constraints. We
construct an initial feasible solution by analyzing the final time effect for
feasibility problems of flatness based motion planning problems. More
specifically, we first find a feasible time-optimal trajectory under state
constraints without a control constraint by solving a linear programming
problem. Then, we find a feasible trajectory under control constraints by
scaling the trajectory. To evaluate the practical applicability of the proposed
method, we did numerical experiments to solve a multi-link manipulator motion
planning problem by combining the method with recursive inverse dynamics
algorithms.