Actuator constraints in point to point motion planning of manipulators

Author

Pledel, Patrick ; Bestaoui, Yasmina

Author_Institution

Nantes Univ., France

Volume

2

fYear

1995

fDate

13-15 Dec 1995

Firstpage

1009

Abstract

Minimum time point to point motion planning has been solved by considering the kinematic constraints on speed and acceleration. These bounds are approximations and imply the full capability of the robot cannot be utilized. Efficiency can be increased by considering the characteristics of the robot dynamics. From the user viewpoint, it would be preferable to have a suboptimal but simpler solution to implement. For this purpose, we have chosen a polynomial trajectory and we find parameters of the trajectory for a minimal time motion. In this paper, the simple expressions previously obtained by Dombre-Khalil (1988) are extended to actuator constraints

Keywords

DC motors; actuators; manipulator dynamics; optimisation; path planning; polynomials; DC motor; actuator constraints; kinematic constraints; manipulators; optimisation; point to point motion planning; polynomial trajectory; robot dynamics; Acceleration; Actuators; Character generation; DC motors; Equations; Manipulator dynamics; Motion planning; Robots; Torque; Voltage;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1995., Proceedings of the 34th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

0-7803-2685-7

Type

conf

DOI

10.1109/CDC.1995.480220

Filename

480220