Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1988.07a
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- Pages.941-944
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- 1988
Optimum Path Planning for Mechanical Manipulators
기계적 로보트팔을 위한 최적 경로 설계
- Kim, Tae-San (Dept. of Electronic Engineering, Kyung-Hee Univ.) ;
- Bae, Jun-Kyung (Dept. of Electronic Engineering, Kyung-Hee Univ.) ;
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Park, Chong-Kug
(Dept. of Electronic Engineering, Kyung-Hee Univ.)
- Published : 1988.07.01
Abstract
To assure a successful completion of an assigned task without interruption, the hand of mechnical manipulator often travels along a preplanned path. This paper presents a method of obtaining a time sechdule of velocities and acceleration along the path, under the constraints. Because of the involvement of a linear performance index and a largr number of nonlinear constraints, the "method of approximate programming (AMP)" is applied. To overcome the false solutions AMP is modified. To reduce the computing time, a "direct approximate programming algorithm (DAPA)" is developed.
Keywords