By Topic

Algorithmic Approach to Straight Line Trajectory Planning for Mechanical Manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
B. H. Lee ; School of Electrical Engineering, Purdue University, West Lafayette, Indiana 47907

An algorithmic approach to straight line trajectory planning has been developed [4]. The trajectory set points for manipulator control are determined exactly on a straight line path. The problem is formulated as a maximization of the Cartesian distance between two consecutive servo time instant. The maximization is subject to the smoothness and torque constrains. The proposed approach has been simulated on a VAX-11/780 computer to verity its performance.

Published in:

American Control Conference, 1986

Date of Conference:

18-20 June 1986