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- The maximization of the speed of movement along a prescribed path, of the system formed by a set of robot arms and the object they hold is examined. The actuator torques that maximize the acceleration of the system are shown to be determined by the solution to a standard linear programming problem. The combination of this result with the known control strategy for time optimal movement of a single robot arm yields an algorithm for time optimal movement of multiple robot arms holding the same workpiece.
- NASA Technical Reports Server (NTRS) Collection.
- Document ID: 19900020499.
Accession ID: 90N29815.
JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 3; p 371-379.
- No Copyright.
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