Accession Number:

ADA148956

Title:

Planning of Minimum-Time Trajectories for Robot Arms.

Descriptive Note:

Memorandum rept.,

Corporate Author:

MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s):

Report Date:

1984-11-01

Pagination or Media Count:

25.0

Abstract:

The minimum-time path for a robot arm has been a long-standing and unsolved problem of considerable interest. We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling algorithm, and graph search. The solution incorporates full dynamics of movement and actuator constraints, and can be easily extended for joint limits and workspace obstacles, but is subject to the particular tesselation scheme used. The results presented show that, in general, the optimal paths are not straight lines, but rather curves in joint-space that utilize the dynamics of the arm and gravity to help in moving the arm faster to its destination. Implementation difficulties due to the tesselation and to combinatorial proliferation of paths are discussed.

Subject Categories:

  • Theoretical Mathematics
  • Machinery and Tools

Distribution Statement:

APPROVED FOR PUBLIC RELEASE