An optimum robot path planning with payload constraints

This paper presents a general methodology for the off-line planning of optimal trajectory of robot manipulators by taking into account the grasping forces in the manipulator gripper. The mechanical energy of the actuators has been considered for the formulation of the objective function. The optimiz...

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Bibliographic Details
Published inRobotica Vol. 20; no. 4; pp. 395 - 404
Main Authors Saramago, Sezimaria F. P., Ceccarelli, Marco
Format Journal Article
LanguageEnglish
Published Cambridge, UK Cambridge University Press 01.07.2002
Subjects
Path planning
Payload constraints
Programming
Robotics
Payload constraints
Programming
Path planning
Robotics
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ISSN0263-5747
1469-8668
DOI10.1017/S0263574702004162

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Summary:This paper presents a general methodology for the off-line planning of optimal trajectory of robot manipulators by taking into account the grasping forces in the manipulator gripper. The mechanical energy of the actuators has been considered for the formulation of the objective function. The optimization problem has been formulated as subject to physical constraints, input torque/force constraints and payload constraints. The mathematical model takes into account the coupled nonlinear equations of manipulator motion. A numerical example shows the efficiency of the proposed procedure.
Bibliography:ark:/67375/6GQ-5G03RG1J-Z
PII:S0263574702004162
istex:2C95653732E28E36C3E4D2580DE04FF2A2CF56E3
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ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574702004162