Planning of near-minimum time trajectories for manipulators.

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 ...

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 ...

Planning a minimum-time trajectories for robot arms

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...

Reliable computation of minimum-time motions for manipulators moving in obstacle fields using a successive search for minimum-overload trajectories

In this paper we present a practical method for finding obstacle-free minimum-time motions for manipulators subject to the limits of velocity-dependent actuator forces. An optimal motion-planning problem is converted into a finite-dimensional nonlinear programming problem by means of parameter optimization with quintic B-splines. We introduce the concept of the minimum-overload trajectory in wh...