Time optimal movement of cooperating robots
- Author:
- Bobrow, J. E.
- Published:
- Jan 31, 1989.
- Physical Description:
- 1 electronic document
- Additional Creators:
- Mccarthy, J. M.
- Access Online:
- hdl.handle.net
- Restrictions on Access:
- Unclassified, Unlimited, Publicly available.
- Summary:
- 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.
- Collection:
- NASA Technical Reports Server (NTRS) Collection.
- Note:
- Document ID: 19900020499.
Accession ID: 90N29815.
JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 3; p 371-379. - Terms of Use and Reproduction:
- No Copyright.
- Access Online:
- hdl.handle.net
View MARC record | catkey: 15684510