Title :
Concept and algorithms for the coordinated optimized path control of two robots
Author :
Duelen, G. ; Held, J. ; Kirchhoff, U. ; Munch, H.
Author_Institution :
Fraunhofer-Institute for Production Systems and Design Technology, Berlin, Federal Republik of Germany
Abstract :
The concept to be presented enables an optimal trajectory synthesis for two kinematic chains cooperating in a common continuous path mode. The developed algorithms are applicable to arbitrary specified kinematic structures as well as world environments and performe the optimal trajectory generation for the participated kinematic chains with respect to all production task related restrictions based on a simple adaption to new or modified production tasks by appropriate choice of specifying parameters.
Keywords :
Algorithm design and analysis; Control systems; Design optimization; Model driven engineering; Optimal control; Optimized production technology; Production systems; Robot control; Robot kinematics; System performance;
Conference_Titel :
Decision and Control, 1986 25th IEEE Conference on
Conference_Location :
Athens, Greece
DOI :
10.1109/CDC.1986.267586
