Planning of Minimum-Time Trajectories for Robot Arms

dc.creator	Sahar, Gideon
dc.creator	Hollerbach, John M.
dc.date	2004-10-01T20:17:46Z
dc.date	2004-10-01T20:17:46Z
dc.date	1984-11-01
dc.date.accessioned	2013-10-09T02:40:28Z
dc.date.available	2013-10-09T02:40:28Z
dc.date.issued	2013-10-09
dc.identifier	AIM-804
dc.identifier	http://hdl.handle.net/1721.1/5634
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	The minimum-time for a robot arm has been a longstanding and unsolved problem of considerable interest. We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling algorithm, and graph search. The solution incorporates full dynamics of movement and actuator constraints, and can be easily extended for joint limits and work space obstacles, but is subject to the particular tesselation scheme used. The results presented show that, in general the optimal paths are not straight lines, bit rather curves in joint-space that utilize the dynamics of the arm and gravity to help in moving the arm faster to its destination. Implementation difficulties due to the tesselation and to combinatorial proliferation of paths are discussed.
dc.format	25 p.
dc.format	2659077 bytes
dc.format	2068782 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-804
dc.subject	robotics
dc.subject	manipulators
dc.subject	optimal paths
dc.subject	minimum-time paths
dc.subject	strajectory planning
dc.subject	path planning
dc.title	Planning of Minimum-Time Trajectories for Robot Arms

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