Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1989.11a
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- Pages.445-449
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- 1989
A Minimum time trajectory planning for robotic manipulators with input torque constraint
입력 토오크 constraint를 가진 로보트 매니플레이터에 대한 최소 시간 궤적 계획
- Hong, In-Keun (Ajou University) ;
- Hong, Suk-Kyo (Ajou University)
- Published : 1989.11.25
Abstract
Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.
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