A method is presented that improves the computational efficiency of time-optimal path-following planning algorithms for robot manipulators with limited actuator torques. The approach exploits the fact that the characteristic switching points of earlier techniques can be found directly in a straightforward fashion. Numerical examples show the consistency of the algorithm with the existing techniques and demonstrate its potential for increasing computational efficiency by several orders of magnitude.
|Number of pages||6|
|Journal||Proceedings of the American Control Conference|
|Volume||88 pt 1-3|
|Publication status||Published - 1988 Dec 1|
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering