DocumentCode :
1421790
Title :
Time-optimal motion of a cooperating multiple robot system along a prescribed path
Author :
Cho, H.K. ; Lee, B.H. ; Ko, M.S.
Author_Institution :
Robotics and Intelligent Systems Laboratory, Department of Control and Instrumentation Engineering, Seoul National University, Seoul 151-742, Korea; Engineering Research Center for Advanced Control and Instrumentation (ERC-ACI), Seoul National University,
Volume :
25
Issue :
12
fYear :
1995
Firstpage :
1648
Lastpage :
1657
Abstract :
This paper deals with a systematic analysis of the time-optimal motion of a multiple robot system carrying an object along a prescribed path. In our approach, the time-optimal motion planning problem is formulated in a concise form by employing a parameter describing the movement along the path and a vector representing the internal force. Various constraints governing the motion yield the so-called admissible region in the phase plane of the parameter. The orthogonal projection technique and the theory of multiple objective optimization make it possible to construct the admissible region, while taking into account the load distribution problem that is coupled with the motion. Furthermore, our approach provides a way of detailed investigation for the admissible region that is not simply connected. The resulting velocity profile of the path parameter and the internal force at every instant determine the optimal actuator torques for each robot. Computer simulation results reinforce the physical interpretation on the characteristics of the optimal actuator torques.
Keywords :
Dynamics; Force; Joints; Planning; Robot kinematics; Trajectory;
fLanguage :
English
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9472
Type :
jour
DOI :
10.1109/TSMC.1995.7102304
Filename :
7102304
Link To Document :
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