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Generation of optimal-time trajectory for the two cooperating robot manipulators

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3 Author(s)
Hyun-Chan Cho ; Chung-Ang Univ., Seoul, South Korea ; Hong-Tae Jeon ; Lee, H.-G.

Two robot manipulators grasping a common object are assumed to travel a specified Cartesian path, and a method for deriving the optimal-time solution is presented. The approach is based on parametrizing the corresponding path and utilizing the phase-plane technique for trajectory planning. The torques supplied by the actuators are assumed to have some constant bounds. The effectiveness of the approach is demonstrated by a computer simulation using a PUMA 560 manipulator. The scheme can be easily extended to more than two manipulators

Published in:

Systems, Man and Cybernetics, 1990. Conference Proceedings., IEEE International Conference on

Date of Conference:

4-7 Nov 1990