Planning a minimum-time trajectories for robot arms

@article{Sahar1985PlanningAM,
  title={Planning a minimum-time trajectories for robot arms},
  author={Gideon Sahar and John M. Hollerbach},
  journal={Proceedings. 1985 IEEE International Conference on Robotics and Automation},
  year={1985},
  volume={2},
  pages={751-758}
}
  • Gideon Sahar, J. Hollerbach
  • Published 1985
  • Computer Science
  • Proceedings. 1985 IEEE International Conference on Robotics and Automation
The minimum-time path for a robot arm has been a long-standing and unsolved problem of considerable interest. We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling algorithm, and graph search. The solution incorporates full dynamics of movement and actuator constraints, and can be easily extended for joint limits and workspace obstacles, but is subject to the particular tesselation scheme used. The results presented show that, in general… 
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