This paper addresses the joint space trajectory planning problem of a 3D measurement system consisting of a 6R robot and a 2D profile sensor, by proposing a fully Paden-Kahan subproblem-based method, ...

3.3 Combining subproblem solutions After the problem is divided into subproblems using the distance matrix, one solves each subproblem as a TSP. However, combining the subproblems' solutions is ...

The computational cost of an L-BFGS trust region subproblem (TRS) solver depend mainly on the number of unknown variables (n) and the number of variable shift vectors and gradient change vectors (m) ...

The proposed QL method for each subproblem constructs an infinite sequence of linear-quadratic optimal boundary control problems. These problems have solutions which converge to any optimal solutions ...

The proposed QL method for each subproblem constructs an infinite sequence of linear-quadratic optimal boundary control problems. These problems have solutions which converge to any optimal solutions ...