Abstract
The path planning problem of manipulators isdivided into two steps: the first step is to achieve the optimum path for off-line process based on the on-line path tracking by adopting the existing approach, cubic spline functions are used for constructing joint trajectories for manipulators; the second step is that an algorithm is developed to schedule the time intervals between each pair of adjacent knots, such that the total traveling time of a manipulator is minimized with the physical constraints on joint velocities, accelerations, jerks.
| Original language | English |
|---|---|
| Pages (from-to) | 698-701 |
| Number of pages | 4 |
| Journal | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| Volume | 21 |
| Issue number | 6 |
| Publication status | Published - 2001 |
Keywords
- Feasible solution converter
- Off-line planning
- Time minimum