DocumentCode
3341589
Title
Online computing of a robotic manipulator joint trajectory with velocity and acceleration constraints
Author
Bazaz, Shafaat Ahmed ; Tondu, Bertrand
Author_Institution
Dept. of Electr. Eng., INSAT, Toulouse, France
fYear
1997
fDate
7-9 Aug 1997
Firstpage
1
Lastpage
6
Abstract
An online algorithm for computing a robot manipulator´s trajectory in joint space with velocity and acceleration constraints is proposed. Our theoretical discussion is based on optimizing the minimum possible time for velocity and acceleration constraints while using cubic splines. A method for calculating the wandering time is also presented. This value of the time gives prehand knowledge to the user about the time after which the wandering phenomenon starts. Simulation results of the proposed algorithm are also presented to show its efficiency
Keywords
digital simulation; industrial manipulators; optimisation; path planning; splines (mathematics); acceleration constraints; cubic splines; joint space; robotic manipulator joint trajectory; velocity constraints; wandering time; Acceleration; Manipulator dynamics; Motion planning; Orbital robotics; Polynomials; Robot kinematics; Robotics and automation; Service robots; Spline; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Assembly and Task Planning, 1997. ISATP 97., 1997 IEEE International Symposium on
Conference_Location
Marina del Rey, CA
Print_ISBN
0-7803-3820-0
Type
conf
DOI
10.1109/ISATP.1997.615375
Filename
615375
Link To Document