Skip to main content Accessibility help

We use cookies to distinguish you from other users and to provide you with a better experience on our websites. Close this message to accept cookies or find out how to manage your cookie settings.

Close cookie message
×
  1. Home
  2. Search

Refine search

Refine search

Access:
Content type:
Publication date:
Apply   From and To filters
Subject: Show more
Journals Show more
Publishers: Show more
Societies Show more
Series: Show more
Collections: Show more

Actions for selected content:

Select all | Deselect all
  • View selected items
  • Export citations
  • Download PDF (zip)
  • Save to Kindle
  • Save to Dropbox
  • Save to Google Drive

Save Search

You can save your searches here and later view and run them again in "My saved searches".

Please provide a title, maximum of 40 characters.
Cancel
×

1 results

  • Synthesis of a minimum-time manipulator trajectories with geometric path constraints using time scaling

  • H. Ozaki, A. Mohri
  • Journal:
    Robotica / Volume 6 / Issue 1 / January 1988
    Published online by Cambridge University Press:
    09 March 2009, pp. 41-46

  • The minimum-time and subminimum-time joint trajectories of manipulators with geometric path constraints are planned in consideration of physical constraints based on kinematics and dynamics. The idea of time scaling is introduced, i.e. a time scale factor k(t) and a set of joint trajectories, called reference trajectories, are used to describe all the sets of trajectories tracing the specified geometric path. The desirable factor k(t) which makes the travelling time as short as possible is obtained by two proposed methods: the first one is an iteratively improving method using B spline, and the second one is a directly minimizing method. These two methods are preferably applied to a geometric collision-free path of a manipulator.