Referenced Items are not available for this document.
A mathematical formulation for the time-optimal contour following problem, defined by a unilaterally constrained manipulator, is presented. The formulation includes a careful development of the manipulator dynamics and of conditions for avoidance of impact between the end effector and the constraint surface. By a priori specification of the paths for the unconstrained motion segments, a parameterization approach is used to simplify the optimal control formulation, so that solution procedures can be identified. The methodology is applied to a simple contour-following problem for a planar Cartesian manipulator
Published in:
Robotics and Automation, IEEE Journal of
(Volume:4
,
Issue:
2
)
Date of Publication: Apr 1988
- Page(s):
- 140 - 149
- ISSN :
- 0882-4967
- INSPEC Accession Number:
- 3182741
- Digital Object Identifier :
- 10.1109/56.2077
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Apr 1988
- Sponsored by :
- IEEE Robotics and Automation Society
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