DocumentCode
804173
Title
Optimal parametrization of curves for robot trajectory design
Author
Marin, Samuel P.
Author_Institution
General Motors Res. Lab., Warren, MI, USA
Volume
33
Issue
2
fYear
1988
fDate
2/1/1988 12:00:00 AM
Firstpage
209
Lastpage
214
Abstract
A numerical method is presented for the offline determination of the minimum-time parameterization of a fixed path in robot joint space, assuming start and end at rest conditions and subject to constraints on manipulator joint torques. A numerical method for solving the problem is discussed in which the derivative of the change of variables is approximated by a cubic spline. Numerical results for a three-axis manipulator are presented
Keywords
control system synthesis; numerical methods; optimisation; position control; robots; splines (mathematics); cubic spline; design; manipulator joint torques; minimum-time parameterization; numerical method; optimal curve parametrisation; robot joint space; robot trajectory; three-axis manipulator; Actuators; Computational modeling; Control system synthesis; DC motors; Manipulators; Orbital robotics; Robots; Servomechanisms; System testing; Torque;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.393
Filename
393
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