Planning of Minimum-Time Trajectories for Robot Arms.

Abstract

The minimum-time path for a robot arm has been a long-standing 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 workspace obstacles, but is subject to the particular tesselation scheme used. The results presented show that, in general, the optimal paths are not straight lines, but 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.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Nov 01, 1984
Accession Number
ADA148956

Entities

People

  • G. Sahar
  • J. M. Hollerbach

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Artificial Intelligence
  • Collision Avoidance
  • Computations
  • Contracts
  • Equations
  • Equations Of Motion
  • High Level Language Architecture
  • Manipulators
  • Massachusetts
  • Military Research
  • Simulations
  • Time Dependence
  • Time Intervals
  • Trajectories
  • Transitions

Readers

  • Optical Fiber Sensing and Electromagnetic Propagation.
  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers