- Garg, D.P. and Jun Yang, The near time-optimal motion control of robotic manipulators,
J. Franklin Inst. (UK), vol. 327 no. 5
pp. 785 - 804 [0016-0032(90)90083-U] .
(last updated on 2007/04/10)
The development of strategies for near time-optimal motion control of robotic manipulators is discussed. A PUMA 560 three degree-of-freedom industrial robot is used for computer simulation of algorithm. A quintic polynomial describes the trajectory of the robot end-effector traversing a specified path in Cartesian space. It is shown that a significant increase in speed and accuracy of the manipulator can be achieved with the use of the proposed algorithm
digital simulation;industrial robots;optimal control;position control;