TY - GEN A1 - Steinbach, Marc T1 - Optimal Motion Design Using Inverse Dynamics. N2 - Increasing demands on industrial robot operation call for optimal motion planning based on dynamic models. The resulting mathematical problems can be handled efficiently by sparse direct boundary value problem methods. Within this framework we propose a new solution technique that is closely related to the conventional kinematic approach: it eliminates the need for numerical integration of differential equations. First optimization results on a real life transport maneuver demonstrate that the technique may save over 50\,\%\ computation time. T3 - ZIB-Report - SC-97-12 Y1 - 1997 UR - https://opus4.kobv.de/opus4-zib/frontdoor/index/index/docId/281 UR - https://nbn-resolving.org/urn:nbn:de:0297-zib-2818 ER -