입력 토오크 constraint를 가진 로보트 매니플레이터에 대한 최소 시간 궤적 계획

A Minimum time trajectory planning for robotic manipulators with input torque constraint

Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.