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Combined time/location optimization of robotic motions with specified paths and velocity profiles

Published online by Cambridge University Press:  09 March 2009

L. Beiner
L. Beiner
Affiliation:
Faculty of Engineering, Tel-Aviv University, POB 39040 Ramat-Aviv 69978 (Israel)
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Summary

A parameter optimization approach to the time-minimization of robotic motions along specified paths is presented for the case when: (i) the velocity profile is a prescribed sequence of constant acceleration/deceleration segments with unspecified, but bounded vertex velocities at given path stations; (ii) the relative robot/path location can be varied. Such optimizations occur when technological requirements impose a certain velocity profile along the path due to velocity and acceleration constraints. Full nonlinear manipulator dynamics and path parameterization are used to determine the optimal velocity profile and robot location consistent with the actuator/configuration limitations. No numerical integration or search for switching curve are involved in the solution. Examples of time-and-location optimized robotic motions with specified velocity profile are presented.

Keywords

OptimizationRobot motionsSpecified pathsVelocity profile
Type
Research Article
Information
Robotica , Volume 7 , Issue 4 , October 1989 , pp. 309 - 314
Copyright
Copyright © Cambridge University Press 1989

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References

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