TY - JOUR
T1 - Robot Path Planning with Obstacles, Actuator, Gripper, and Payload Constraints
AU - Shiller, Zvi
AU - Dubowsky, Steven
PY - 1989/12
Y1 - 1989/12
N2 - A method is presented to obtain the time-optimal motions for robotic manipulators. It considers the full nonlinear dy namics of the manipulator, its actuator saturation limits, and gripper and payload constraints. It also accounts for both the presence of obstacles in the work space and restrictions on the motion of the manipulator's joints. The method is com putationally practical and has been implemented for the optimal trajectory planning of general six degree-of-freedom manipulators. Examples are presented that demonstrate the substantial improvement in manipulator performance that can be achieved using this method.
AB - A method is presented to obtain the time-optimal motions for robotic manipulators. It considers the full nonlinear dy namics of the manipulator, its actuator saturation limits, and gripper and payload constraints. It also accounts for both the presence of obstacles in the work space and restrictions on the motion of the manipulator's joints. The method is com putationally practical and has been implemented for the optimal trajectory planning of general six degree-of-freedom manipulators. Examples are presented that demonstrate the substantial improvement in manipulator performance that can be achieved using this method.
UR - http://www.scopus.com/inward/record.url?scp=0024937330&partnerID=8YFLogxK
U2 - 10.1177/027836498900800601
DO - 10.1177/027836498900800601
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AN - SCOPUS:0024937330
SN - 0278-3649
VL - 8
SP - 3
EP - 18
JO - International Journal of Robotics Research
JF - International Journal of Robotics Research
IS - 6
ER -