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Optimizing robot motion along a predefined path

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2 Author(s)
Seeger, G. ; Purdue University, West Lafayette, Indiana, United States of America ; Paul, R.P.

This paper describes a control scheme designed to make a manipulator move as fast as possible within its velocity and acceleration constraints. The control system adapts itself to any given path but is still conceptually simple and requires relatively little computing power. The basic strategy is to have an optimization algorithm tune the output of a trajectory generator that drives individual control loops on the robot joints. The optimization process is iterative, using only measured data from real-time runs of the arm in each step.

Published in:

Robotics and Automation. Proceedings. 1985 IEEE International Conference on  (Volume:2 )

Date of Conference:

Mar 1985