Motion planning for 6R-Robots: multiple tasks with constrained velocity and orientation of the end-effector

Abstract

In the present paper1 we consider the kinematic properties of robots with 6 rotational joints and describe an approach for optimization of robot motion due to given geometric and differential constraints (i.e. constraints on velocity and orientation of the robot end-effector during the execution of some tasks, and limits on velocities and accelerations… (More)
DOI: 10.1145/1277500.1277513

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