International Journal of Control, Automation, and Systems

  • 제4권1호
  • /
  • Pages.10-16
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  • 2006
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  • 1598-6446(pISSN)
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  • 2005-4092(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Time-optimal Trajectory Planning for a Robot System under Torque and Impulse Constraints

  • Cho, Bang-Hyun (Daewoo Shipbuilding & Marine Engineering Co., Ltd.) ;
  • Choi, Byoung-Suk (School of Electronics Engineering, Pusan National University) ;
  • Lee, Jang-Myung (School of Electronics Engineering, Pusan National University)
  • 발행 : 2006.02.01
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초록

In this paper, moving a fragile object from an initial point to a specific location in the minimum time without damage is studied. In order to achieve this goal, initially, the maximum acceleration and velocity ranges are specified. These ranges can be dynamically generate on the planned path by the manipulator. The path can be altered by considering the geometrical constraints. Later, considering the impulsive force constraint on the object, the range of maximum acceleration and velocity are obtained to preserve object safety while the manipulator is carrying it along the curved path. Finally, a time-optimal trajectory is planned within the maximum allowable range of acceleration and velocity. This time-optimal trajectory planning can be applied to real applications and is suitable for both continuous and discrete paths.

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참고문헌

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