TY - JOUR
T1 - TIME OPTIMAL PATHS AND ACCELERATION LINES OF ROBOTIC MANIPULATORS.
AU - Shiller, Zvi
AU - Dubowsky, Steven
PY - 1987
Y1 - 1987
N2 - The concept of acceleration lines and their correlation with time-optimal paths of robotic manipulators is presented. The acceleration lines represent the directions of maximum tip acceleration from a point in the manipulator work-space, starting at a zero velocity. These lines can suggest the number and shapes of time-optimal paths for a class of manipulators. It is shown that nonsingular time-optimal paths are tangent to one of the acceleration lines near the end-points. A procedure for obtaining near-optimal paths, utilizing the acceleration lines, is developed. These paths are obtained by connecting the end-points with B splines tangent to the acceleration lines. The near-minimum paths are shown to yield better traveling times than the straight-line path between the same end-points. The near-minimum paths can be used as initial conditions in existing optimization methods to speed-up convergence and computation time. This method can be used for online robot path planning and for interactive designs of robotic-cell layouts. Examples of time-optimal paths of a two-link manipulator, obtained by other optimization procedures and their acceleration lines, are shown.
AB - The concept of acceleration lines and their correlation with time-optimal paths of robotic manipulators is presented. The acceleration lines represent the directions of maximum tip acceleration from a point in the manipulator work-space, starting at a zero velocity. These lines can suggest the number and shapes of time-optimal paths for a class of manipulators. It is shown that nonsingular time-optimal paths are tangent to one of the acceleration lines near the end-points. A procedure for obtaining near-optimal paths, utilizing the acceleration lines, is developed. These paths are obtained by connecting the end-points with B splines tangent to the acceleration lines. The near-minimum paths are shown to yield better traveling times than the straight-line path between the same end-points. The near-minimum paths can be used as initial conditions in existing optimization methods to speed-up convergence and computation time. This method can be used for online robot path planning and for interactive designs of robotic-cell layouts. Examples of time-optimal paths of a two-link manipulator, obtained by other optimization procedures and their acceleration lines, are shown.
UR - http://www.scopus.com/inward/record.url?scp=0023562741&partnerID=8YFLogxK
U2 - 10.1109/cdc.1987.272741
DO - 10.1109/cdc.1987.272741
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AN - SCOPUS:0023562741
SN - 0191-2216
SP - 199
EP - 204
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
ER -