Abstract
A method to approximate time optimal paths for robotic manipulators is presented. The method uses the acceleration map which is a graphical representation of the manipulator dynamics. The acceleration map is composed of acceleration lines that represent the directions of maximum tip acceleration from a point at zero velocity. The time optimal path is approximated by connecting a smooth curve between the end points, tangent to the acceleration lines. It is shown that nonsingular time optimal paths, with zero velocity at their end points, are tangent to one of the acceleration lines near the endpoints.
| Original language | English |
|---|---|
| Pages | 229-234 |
| Number of pages | 6 |
| State | Published - 1987 |
| Externally published | Yes |