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dc.contributor.authorSahar, Gideonen_US
dc.contributor.authorHollerbach, John M.en_US
dc.date.accessioned2004-10-01T20:17:46Z
dc.date.available2004-10-01T20:17:46Z
dc.date.issued1984-11-01en_US
dc.identifier.otherAIM-804en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/5634
dc.description.abstractThe minimum-time for a robot arm has been a longstanding 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 work space obstacles, but is subject to the particular tesselation scheme used. The results presented show that, in general the optimal paths are not straight lines, bit 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.en_US
dc.format.extent25 p.en_US
dc.format.extent2659077 bytes
dc.format.extent2068782 bytes
dc.format.mimetypeapplication/postscript
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.relation.ispartofseriesAIM-804en_US
dc.subjectroboticsen_US
dc.subjectmanipulatorsen_US
dc.subjectoptimal pathsen_US
dc.subjectminimum-time pathsen_US
dc.subjectstrajectory planningen_US
dc.subjectpath planningen_US
dc.titlePlanning of Minimum-Time Trajectories for Robot Armsen_US


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