TIME-OPTIMAL TRAJECTORIES FOR ROBOT MANIPULATORS

被引：17

作者：

DISSANAYAKE, MWMG

GOH, CJ

PHANTHIEN, N

机构：

[1] University of Western Australia, Department of Mechanical Engineering

[2] Department of Mathematics, Nedlands

[3] Department of Mechanical Engineering

来源：

ROBOTICA | 1991年 / 9卷

关键词：

OPTIMAL TRAJECTORIES; DESIGN CONSTRAINTS; WORKSTATION LAYOUT; ROBOTS;

D O I：

10.1017/S026357470001016X

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A computational technique for obtaining minimum-time trajectories for robot manipulators is described in this paper. In the analysis, limitations to link movements due to design constraints are taken into consideration. Numerical examples based on a two-link planar robot arm shows the feasibility of the technique proposed. A physical explanation for the general characteristics of the observed trajectories is also presented. The importance of appreciating optimal control issues in designing robot manipulators and in planning robot workstation layouts is emphasised.

引用

页码：131 / 138

页数：8

共 16 条

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