Cart (Loading....) | Create Account
Close category search window
 

A discrete trajectory planner for robotic arms with six degrees of freedom

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
$31 $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

2 Author(s)
Tan, H.H. ; Dept. of Appl. Math., Adelaide Univ., SA, Australia ; Potts, R.B.

A discrete trajectory planner is described which has been shown to be capable of planning optimal trajectories for a six-degree-of-freedom robot with minimum time/energy objective functions and realistic constraints on the joint velocities, joint torques, joint jerks, and hand velocity. It is also flexible enough to handle other objective functions and constraints, provided they can be satisfactorily discretized. An alternative formulation of the discrete trajectory planner is also provided for the efficient generation of optimal trajectories when equal time intervals are required. Once an optimal trajectory is planned offline with the discrete trajectory planner, the open-loop solution can be fed to the online feedback controller for trajectory tracking. Computation time taken by the discrete trajectory planner is acceptable for offline planning purposes. Numerical examples are presented for the Stanford manipulator using all six degrees of freedom

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:5 ,  Issue: 5 )

Date of Publication:

Oct 1989

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.