Time-optimal trajectories for a robot manipulator: a provably good approximation algorithm
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 150-156 vol.1
- https://doi.org/10.1109/robot.1990.125963
Abstract
An algorithm is presented for generating near-time-optimal trajectories for an open-kinematic-chain manipulator moving in a cluttered workspace. This is the first algorithm to guarantee bounds on the closeness of an approximation to a time-optimal trajectory. The running time and space required are polynomial in the desired accuracy of the approximation. The user may also specify tolerances by which the trajectories must clear obstacles in the workspace to allow modeling of control errors.Keywords
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