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coordinated manipulators

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Near minimum-time trajectory for two coordinated manipulators
K. Y. Lee, M. W. M. G. Dissanayake
Journal:

Robotica / Volume 13 / Issue 2 / March 1995

Published online by Cambridge University Press:

09 March 2009, pp. 177-184
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This paper presents a method to obtain near minimum-time trajectories for two coordinated manipulators handling a rigid object. A piece-wise constant function is used to approximate the second derivatives of the generalised coordinates of the manipulators of the system. This transforms the time optimal control problem into a non-linearly constrained optimisation problem. The transformed problem is then solved by the sequential quadratic programming technique. A numerical example involving two SCARA type manipulators handling a long beam is used to illustrate the proposed scheme.