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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)
Publication Information
International Journal of Control, Automation, and Systems / v.4, no.1, 2006 , pp. 10-16 More about this Journal
Abstract
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.
Keywords
Time optimal; optimal trajectory; trajectory planning;
Citations & Related Records

Times Cited By Web Of Science : 2  (Related Records In Web of Science)
Times Cited By SCOPUS : 2
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