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Trajectory Optimization for Highly Articulated Robots based on Sparsity–Free Local Direct Collocation Cover

Trajectory Optimization for Highly Articulated Robots based on Sparsity–Free Local Direct Collocation

International Journal of Applied Mathematics and Computer Science
Volume 35 (2025): Issue 4 (December 2025)
By: Daniel Cardona-Ortiz and  Gustavo Arechavaleta  
Open Access
|Dec 2025

Authors

Daniel Cardona-Ortiz

daniel.cardona@cinvestav.mx

Robotics and Advanced Manufacturing Group Centre for Research and Advanced Studies of IPN Saltillo, Coahuila, México

Gustavo Arechavaleta

gustavo.arechavaleta@cinvestav.mx

Robotics and Advanced Manufacturing Group Centre for Research and Advanced Studies of IPN Saltillo, Coahuila, México
DOI: https://doi.org/10.61822/amcs-2025-0041 | Journal eISSN: 2083-8492 | Journal ISSN: 1641-876X
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Language: English
Page range: 577 - 589
Submitted on: Feb 6, 2025
|
Accepted on: Jul 15, 2025
|
Published on: Dec 15, 2025
Published by: University of Zielona Góra
In partnership with: Paradigm Publishing Services
Publication frequency: 4 issues per year
Keywords:
robot trajectory optimization,
numerical optimal control,
direct collocation
Related subjects:
Mathematics,
Applied mathematics

© 2025 Daniel Cardona-Ortiz, Gustavo Arechavaleta, published by University of Zielona Góra
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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