Title :
A minimum-time trajectory planning method for two robots
Author :
Bien, Zeungnam ; Lee, Jihong
Author_Institution :
Dept. of Electr. Eng., KAIST, Seoul, South Korea
fDate :
6/1/1992 12:00:00 AM
Abstract :
A trajectory planning method that ensures collision-free and time-optimal motions for two robotic manipulators with limited actuator torques and velocities is proposed. In terms of parameters defining the positions along the paths of two robots, a two-dimensional coordination space and a maximum velocity curve are constructed to detect collision regions and to plan a time-optimal velocity curve, respectively. An algorithm is then provided for the case of zero initial velocities and a single collision region. A numerical example is included
Keywords :
optimisation; planning (artificial intelligence); position control; robots; velocity control; 2D coordination space; collision avoidance; collision detection; maximum velocity curve; minimum-time trajectory planning; robots; time-optimal motions; Acceleration; Actuators; Manipulator dynamics; Motion planning; Orbital robotics; Robot kinematics; Robotics and automation; Space technology; Torque; Trajectory;
Journal_Title :
Robotics and Automation, IEEE Transactions on