DocumentCode
488407
Title
Near-Time-Optimal Control of a Robot Manipulator using new Approximation Techniques
Author
Heinzinger, Greg ; Jacobs, Paul ; Canny, John ; Paden, Brad
Author_Institution
Department of Electrical Engineering and Computer Science and The Electronics Research Laboratory, University of California at Berkeley, Berkeley, CA 94720
fYear
1990
fDate
23-25 May 1990
Firstpage
1766
Lastpage
1767
Abstract
We present a new approach for determining a time-optimal trajectory for a robot manipulator with actuator torque bounds. We find an approximation to a globally optimal trajectory which passes between two configurations will avoiding obstacles. Our algorithm accomplishes this by by dynamically generating and searching a finite graph. Our algorithm is guaranted to produce a trajectory that performs within a user-specified factor of a time-optimal safe trajectory.
Keywords
Actuators; Algorithm design and analysis; Approximation algorithms; Computer science; Gravity; Jacobian matrices; Manipulators; Robot control; Tellurium; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1990
Conference_Location
San Diego, CA, USA
Type
conf
Filename
4791035
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