Title :
Optimal parametrization of curves for robot trajectory design
Author :
Marin, Samuel P.
Author_Institution :
General Motors Res. Lab., Warren, MI, USA
fDate :
2/1/1988 12:00:00 AM
Abstract :
A numerical method is presented for the offline determination of the minimum-time parameterization of a fixed path in robot joint space, assuming start and end at rest conditions and subject to constraints on manipulator joint torques. A numerical method for solving the problem is discussed in which the derivative of the change of variables is approximated by a cubic spline. Numerical results for a three-axis manipulator are presented
Keywords :
control system synthesis; numerical methods; optimisation; position control; robots; splines (mathematics); cubic spline; design; manipulator joint torques; minimum-time parameterization; numerical method; optimal curve parametrisation; robot joint space; robot trajectory; three-axis manipulator; Actuators; Computational modeling; Control system synthesis; DC motors; Manipulators; Orbital robotics; Robots; Servomechanisms; System testing; Torque;
Journal_Title :
Automatic Control, IEEE Transactions on
