Hostname: page-component-7dd5485656-zklqj Total loading time: 0 Render date: 2025-10-30T12:54:35.731Z Has data issue: false hasContentIssue false
  • English
  • Français

An optimum robot path planning with payload constraints

Published online by Cambridge University Press:  24 June 2002

Sezimaria F. P. Saramago  and
Marco Ceccarelli
Sezimaria F. P. Saramago
Affiliation:
College of Mathematics, Federal University of Uberlandia, Uberlandia (MG) (Brazi); saramago@ufu.br
Marco Ceccarelli
Affiliation:
Laboratory of Robotics and Mechatronics – DiMSAT, University of Cassino, Via Di Biasio 43 – 03043 Cassino (Fr) (Italy); ceccarelli@ing.unicas.it
Get access Rights & Permissions [Opens in a new window]

Abstract

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.

Keywords

RoboticsProgrammingPath planningPayload constraints

Information

Type
Research Article
Information
Robotica , Volume 20 , Issue 4 , July 2002 , pp. 395 - 404
Copyright
© 2002 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable