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Optimum path planning of robot arms

Published online by Cambridge University Press:  09 March 2009

V. Braibant  and
M. Geradin
V. Braibant
Affiliation:
Université de Liège, Laboratoire de Techniques Aéronautiques et Spatiales, rue Ernest Solvay, 21, 4000 Liege, (Belgium)
M. Geradin
Affiliation:
Université de Liège, Laboratoire de Techniques Aéronautiques et Spatiales, rue Ernest Solvay, 21, 4000 Liege, (Belgium)
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Summary

The optimum control of an industrial robot can be achieved by splitting the problem into two tasks: off-line programming of an optimum path, followed by an on-line path tracking.

The aim of this paper is to address the numerical solution of the optimum path planning problem. Because of its mixed nature, it can be expressed either in terms of Cartesian coordinates or at joint level.

Whatever the approach adopted, the optimum path planning problem can be formulated as the problem of minimizing the overall time (taken as objective function) subject to behavior and side constraints arising from physical limitations and deviation error bounds. The paper proposes a very general optimization algorithm to solve this problem, which is based on the concept of mixed approximation.

A numerical application is presented which demonstrates the computational efficiency of the proposed algorithm.

Keywords

OptimumPath PlanningRobot ArmsMixed Approximation
Type
Article
Information
Robotica , Volume 5 , Issue 4 , October 1987 , pp. 323 - 331
Copyright
Copyright © Cambridge University Press 1987

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