On the Optimization of Robotic Manipulator Trajectories With Bounded Joint Actuators or Joint Kinetic Loads Considered as Control Variables

[+] Author and Article Information
G. Bessonnet, J. P. Lallemand

Université de Poitiers, Laboratoire de Mécanique des Solides (URA 861), 40, Avenue du Recteur Pineau, 86022 Poitiers France

J. Dyn. Sys., Meas., Control 116(4), 819-826 (Dec 01, 1994) (8 pages) doi:10.1115/1.2899287 History: Received December 01, 1989; Revised October 01, 1993; Online March 17, 2008


A general approach to the dynamics of robotic manipulators is developed in order to select an array of joint actuators and joint kinetic loads to be dealt with as control variables to carry out optimization of manipulator trajectories. Optimization is performed along free paths between work stations. The selected joint forces or torques are submitted to bounds and are optimized together with the travel time by minimizing a mixed performance index.

Copyright © 1994 by The American Society of Mechanical Engineers
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