DocumentCode
1843689
Title
Polynomial motion generation of manipulators with technological constraints
Author
Pledel, Patrick ; Bestaoui, Yasmina
Author_Institution
Lab. d´´Autom., Nantes Univ., France
Volume
1
fYear
1996
fDate
22-28 Apr 1996
Firstpage
448
Abstract
Motion generation gives the joint positions speeds and accelerations of manipulators, at every moment. We assume that the motion are polynomial trajectories, that ensure joint acceleration continuity Usual kinematical constraints, obtained with approximations, are not always sufficient, then we will focus on actuators constraints on voltages and currents
Keywords
manipulators; path planning; accelerations; actuator constraints; current constraints; joint acceleration continuity; joint positions; kinematical constraints; manipulators; polynomial motion generation; polynomial trajectories; speeds; voltage constraints; Acceleration; Actuators; DC motors; Equations; Gravity; Manipulator dynamics; Polynomials; Robots; Torque; Voltage;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.503817
Filename
503817
Link To Document