Optimal parametrization of curves for robot trajectory design
- 1 January 1988
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 33 (2) , 209-214
- https://doi.org/10.1109/9.393
Abstract
A numerical method is presented for the offline determination of the minimum-time parameterization of a fixed path in robot joint space, assuming start and end at rest conditions and subject to constraints on manipulator joint torques. A numerical method for solving the problem is discussed in which the derivative of the change of variables is approximated by a cubic spline. Numerical results for a three-axis manipulator are presented.Keywords
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