On-line minimum-time trajectory planning for industrial robot applications

39th International Symposium on Robotics, ISR 2008

Volumn , Issue , 2008, Pages 926-928

  Kim, Joonyoung ^a   Kim, Dong Hyeok ^a   Kim, Sung Rak ^a  

^a Hyundai Heavy Industries   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL BURDEN; DYNAMICS CALCULATIONS; KINEMATIC CONSTRAINTS; MINIMUM-TIME TRAJECTORY PLANNING; ONLINE METHODS; POOR EFFICIENCIES; ROBOT CONTROLLER; TRAJECTORY PLANNING METHOD;

ROBOT APPLICATIONS; ROBOTICS; ROBOTS;

DYNAMICS;

EID: 74549212584     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (4)

1. J. E. Bobrow, S. Dobowsky, and J. S. Gibson, "Timeoptimal control of robotic manipulators along specified path," The International Journal of Robotic Research, Vol. 4, No. 3, pp. 3-17, 1985.
2. J. J. Craig, Introduction to Robotics. New York: Addison-Wesley, 1989.
3. S. Macfarlane and E. A. Croft, "Jerk-bounded manipulator trajectory planning: Design for real-time applications," IEEE Trans. on Robotics and Automation, Vol. 19, pp. 42-52, 2003.
4. K. G. Shin and N. D. McKay, "Minimum-time control of robotic manipulators with geometric path constraints," IEEE Trans. Automatic Control. AC-30, pp. 531-541, June, 1985.