Time-optimal motions of robotic manipulators with constraints

제한조건을 가진 로봇 매니퓰레이터에 대한 최적 시간 운동

In this paper, methods for computing the time-optimal motion of a robotic manipulator are presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. The optimization problem can be reduced to a search for the time-optimal path in the n-dimensional position space. These paths are further optimized with a local path optimization to yield a global optimal solution. Time-optimal motion of a robot with an articulated arm is presented as an example.