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A minimum-time trajectory planning method for two robots

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2 Author(s)
Zeungnam Bien ; Dept. of Electr. Eng., KAIST, Seoul, South Korea ; Jihong Lee

A trajectory planning method that ensures collision-free and time-optimal motions for two robotic manipulators with limited actuator torques and velocities is proposed. In terms of parameters defining the positions along the paths of two robots, a two-dimensional coordination space and a maximum velocity curve are constructed to detect collision regions and to plan a time-optimal velocity curve, respectively. An algorithm is then provided for the case of zero initial velocities and a single collision region. A numerical example is included

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 3 )

Date of Publication:

Jun 1992

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