Planning of Minimum- Time Trajectories for Robot Arms

Planning a minimum-time trajectories for robot arms

Planning multi-goal tours for robot arms

Life Extending Minimum-Time Path Planning for Hexapod Robot

This paper presents a minimum‐time path planning scheme for life‐extending operation of legged robots, illustrated with a six‐legged walking robot (hexapod). The focus of this study is on extending the bearing fatigue life for leg joints. As a typical treatment, the minimum‐time path planning is performed through a bisecting‐plane (BP) algorithm with the co...

Planning manipulator trajectories under dynamics constraints using minimum-time shortcuts

Planning minimum-time, dynamically-feasible, collision-free trajectories for robotic manipulators is essential to improve industrial productivity. Yet this difficult problem is still waiting for robust and efficient algorithms. Here we propose to tackle it by bringing together two methods : fixed-path time-minimization under dynamics constraints and shortcuts-based smoothing. We implement our a...

Near-Minimum-Time Motion Planning of Manipulators along Specified Path

The large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. Most of this computational burden is due to calculation of switching points. In this paper a learning algorithm is proposed for finding the switching points. The method, which can be used for both ...