Optimal Motion Programming of Robot Manipulators
- 1 June 1985
- journal article
- Published by ASME International in Journal of Mechanical Design
- Vol. 107 (2) , 239-244
- https://doi.org/10.1115/1.3258716
Abstract
The objective of this paper is to develop a general approach to determine the optimal motion programs at the joints of a robot in order to perform a task between given work stations. The optimal joint motion programs are determined by minimizing the joint torque values. The results obtained by this technique are compared with some of the standard motion programs used in industries.Keywords
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