ON THE OPTIMIZATION OF ROBOTIC MANIPULATOR TRAJECTORIES WITH BOUNDED JOINT ACTUATORS OR JOINT KINETIC LOADS CONSIDERED AS CONTROL VARIABLES

被引：4

作者：

BESSONNET, G

LALLEMAND, JP

机构：

[1] Universite de Poitiers, Laboratoire de Mecanique des Solides (URA 861), Poitiers, 86022, 40, Avenue du Recteur Pineau

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1994年 / 116卷 / 04期

关键词：

D O I：

10.1115/1.2899287

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A general approach to the dynamics of robotic manipulators is developed in order to select an array of joint actuators and joint kinetic loads to be dealt with as control variables to carry out optimization of manipulator trajectories. Optimization is performed along free paths between work stations. The selected joint forces or torques are submitted to bounds and are optimized together with the travel time by minimizing a mixed performance index.

引用

页码：819 / 826

页数：8

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