Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 16 Issue 12
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- Pages.204-213
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- 1999
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
Optimal Geometric Path and Minimum-Time Motion for a Manipulator Arm
로봇팔의 최적 기하학적 경로 및 시간최소화 운동
- Published : 1999.12.01
Abstract
This paper suggests a numerical method of finding optimal geometric path and minimum-time motion for a manipulator arm. To find the minimum-time motion, the optimal geometric path is searched first, and the minimum-time motion is searched on this optimal path. In the algorithm finding optimal geometric path, the objective function is minimizing the combination of joint velocities, joint-jerks, and actuator forces as well as avoiding several static obstacles, where global search is performed by adjusting the seed points of the obstacle models. In the minimum-time algorithm, the traveling time is expressed by the linear combinations of finite-term quintic B-splines and the coefficients of the splines are obtained by nonlinear programming to minimize the total traveling time subject to the constraints of the velocity-dependent actuator forces. These two search algorithms are basically similar and their convergences are quite stable.
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