Title :
Algorithmic Approach to Straight Line Trajectory Planning for Mechanical Manipulators
Author_Institution :
School of Electrical Engineering, Purdue University, West Lafayette, Indiana 47907
Abstract :
An algorithmic approach to straight line trajectory planning has been developed [4]. The trajectory set points for manipulator control are determined exactly on a straight line path. The problem is formulated as a maximization of the Cartesian distance between two consecutive servo time instant. The maximization is subject to the smoothness and torque constrains. The proposed approach has been simulated on a VAX-11/780 computer to verity its performance.
Keywords :
Acceleration; Actuators; Computational modeling; Computer simulation; Equations; Manipulators; Path planning; Servomechanisms; Torque; Trajectory;
Conference_Titel :
American Control Conference, 1986
Conference_Location :
Seattle, WA, USA
