Optimal Motion Planning for Robotic Manipulators

Feng Yun Lin

doi:10.4028/www.scientific.net/AMR.902.262

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 902Optimal Motion Planning for Robotic Manipulators

Optimal Motion Planning for Robotic Manipulators

Abstract:

This paper presents a time-optimal path planning scheme for a robot manipulator to track a specified geometric Cartesian trajectory. It considers actuator constraints, the full robot dynamics. In order to make full use of the motors capacity, the bound torques are determined by considering the bound of the generated heat. The velocity limit and the bound acceleration (deceleration) are determined by combining with dynamics. We utilize the phase plane analysis technique to generate the minimum time trajectory.

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Periodical:

Advanced Materials Research (Volume 902)

Pages:

262-266

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.902.262

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Online since:

February 2014

Authors:

Feng Yun Lin*

Keywords:

Dc Motor, Dynamics Constraints, Path Planning, Phase Plane Analysis

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* - Corresponding Author

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