Title :
Minimum-time trajectory planning for manipulator with controlled velocity profile
Author :
I. Duleba;J.Z. Sasiadek
Author_Institution :
Inst. of Eng. Cybern., Wroclaw Univ., Poland
Abstract :
In this paper the minimum time trajectory planning problem with controlled velocity profile has been solved. A path-tracking algorithm with a tracking error kept in given range is presented. Some extensions of the algorithm are discussed. The concepts are illustrated with examples.
Keywords :
"Trajectory","Velocity control","Acceleration","Path planning","Manipulator dynamics","Error correction","Cybernetics","Aerodynamics","Force control","Torque control"
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.694615
