TY - JOUR
T1 - Computation of path constrained time optimal lotions with dynamic singularities
AU - Shiller, Zvi
AU - Lu, Hsueh Hen
PY - 1992/3
Y1 - 1992/3
N2 - An algorithm for computing the time optimal motions of robotic manipulators along specified paths is presented which accounts for singular points and arcs, at which one actuator does not contribute to the acceleration along the path. It is proven that the optimal trajectory is extremal in the acceleration along the path at all times except at singular points and arcs where it maximizes the feasible velocity along the path. This algorithm is robust to path variations unlike the original methods (Bobrow et ah, 1985; Shin and McKay, 1984) that fail at singular points. The algorithm is demonstrated for a two-link planar manipulator to produce smooth controls along singular arcs.
AB - An algorithm for computing the time optimal motions of robotic manipulators along specified paths is presented which accounts for singular points and arcs, at which one actuator does not contribute to the acceleration along the path. It is proven that the optimal trajectory is extremal in the acceleration along the path at all times except at singular points and arcs where it maximizes the feasible velocity along the path. This algorithm is robust to path variations unlike the original methods (Bobrow et ah, 1985; Shin and McKay, 1984) that fail at singular points. The algorithm is demonstrated for a two-link planar manipulator to produce smooth controls along singular arcs.
UR - http://www.scopus.com/inward/record.url?scp=0026838415&partnerID=8YFLogxK
U2 - 10.1115/1.2896505
DO - 10.1115/1.2896505
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AN - SCOPUS:0026838415
SN - 0022-0434
VL - 114
SP - 34
EP - 40
JO - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
JF - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
IS - 1
ER -