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.
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering