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Can I read Smooth and Time-optimal Trajectory Planning for Industrial Manipulators Along Specified Paths on EtoBox?
Smooth and Time-optimal Trajectory Planning for Industrial Manipulators Along Specified Paths by D. Constantinescu; E. A. Croft is a Engineering article available to read on EtoBox.
What is Smooth and Time-optimal Trajectory Planning for Industrial Manipulators Along Specified Paths about?
This article presents a method for determining smooth and time-optimal path constrained trajectories for robotic manipulators and investigates the performance of these trajectories both through simulations and experiments. The desired smoothness of the trajectory is imposed through limits on the torque rates. The third derivative of the path parameter with respect to time, the pseudo-jerk, is the controlled input. The limits on the actuator torques translate into state-dependent limits on the pseudoacceleration. The time-optimal control objective is cast as an optimization problem by using cubic splines to parametrize the state space trajectory. The optimization problem is solved using the flexible tolerance method. The experimental results presented show that the planned smooth trajectories provide superior feasible time-optimal motion.
Who reads Smooth and Time-optimal Trajectory Planning for Industrial Manipulators Along Specified Paths?
It is typically read by researchers, students, and practitioners in Engineering.
- Author
- D. Constantinescu; E. A. Croft
- Publisher
- Wiley
- Published
- 2000
- Language
- EN
- Field
- Engineering (Physical Sciences)