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Time-optimal Trajectories for Robot Manipulators

Published online by Cambridge University Press:  09 March 2009

M. W. M. G. Dissanayake ,
C. J. Goh  and
N. Phan-Thien
M. W. M. G. Dissanayake
Affiliation:
Department of Mechanical Engineering, University of Sydney, NSW 2006 (Australia).
C. J. Goh
Affiliation:
Department of Mathematics, University of Western Australia, Nedlands, WA 6009 (Australia).
N. Phan-Thien
Affiliation:
Department of Mechanical Engineering, University of Sydney, NSW 2006 (Australia).
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Summary

A computational technique for obtaining minimum-time trajectories for robot manipulators is described in this paper. In the analysis, limitations to link movements due to design constraints are taken into consideration. Numerical examples based on a two-link planar robot arm shows the feasibility of the technique proposed. A physical explanation for the general characteristics of the observed trajectories is also presented. The importance of appreciating optimal control issues in designing robot manipulators and in planning robot workstation layouts is emphasised.

Keywords

Optimal trajectoriesDesign constraintsWorkstation layoutRobots
Type
Article
Information
Robotica , Volume 9 , Issue 2 , April 1991 , pp. 131 - 138
Copyright
Copyright © Cambridge University Press 1991

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