Time-Optimal Robotic Manipulator Task Planning

A method is presented which finds the minimum time motions for manipulators. The method considers the full nonlinear manipulator dynamics, actuator characteristics, and accounts for obstacles in the work space and restrictions on the motions of the manipulator’s joints. It is computationally practical and has been implemented in a Computer Aided Design (CAD) software package, OPTARM II, which facilitates its use. Examples of its application are presented and show that the technique yields substantial improvements in system performance.

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