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This paper deals with minimum time trajectory optimization along a specified path subject to thermal constraints. We point out here that robots are often integrated in complex robotic cells, and the interactions between the robot and its environment are often difficult or even impossible to model. The structure of the optimization problem allows us to(More)
We propose here to deal with the optimization of velocity profiles of manipulator robots with a minimum time criterion subject to thermal constraints. This paper deals with the real impact of thermal limitations on optimal velocity profiles and the methods to calculate the corresponding optimal trajectories. We first calculate analytically the optimal(More)
This paper deals with optimizing the task cycle time of industrial robots integrated in complex robot cells. Trajectory optimizers are usually based on models and can't properly deal with uncertainties due to interactions between the robot and its environment. We propose here a trajectory optimizer with hardware in the loop which can take into account(More)
This paper deals with minimum time trajectory optimization along a specified path subject to thermal constraints. We point out here that robots are often integrated in complex robotic cells, and the interactions between the robot and its environment are often difficult or even impossible to modelize. The structure of the optimization problem allows us to(More)
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