Title :
A cutting-plane algorithm for minimum-time trajectory planning of industrial robots
Author :
Piazzi, Aurelio ; Visioli, Antonio
Author_Institution :
Dept. di Ingegneria dell´´Inf., Parma Univ., Italy
Abstract :
The optimal minimum-time trajectory planning of an m-joint industrial robot is proposed by means of a newly devised outer cutting-plane algorithm. By using piecewise cubic polynomials in the joint space, this algorithm provides a global solution to the minimum total time planning problem by adopting an interval subroutine, i.e. a procedure which uses concepts of interval analysis. An example for the 2-joint case with computational results is included
Keywords :
industrial manipulators; path planning; piecewise polynomial techniques; time optimal control; 2-joint case; computational results; cutting-plane algorithm; global solution; interval subroutine; minimum-time trajectory planning; multijoint industrial robot; outer cutting-plane algorithm; piecewise cubic polynomials; Acceleration; Algorithm design and analysis; Computer industry; Constraint optimization; Kinematics; Optimal control; Orbital robotics; Polynomials; Service robots; Trajectory;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657618
