Robust computation of path constrained time optimal motions

@article{Shiller1990RobustCO,
  title={Robust computation of path constrained time optimal motions},
  author={Z. Shiller and Hsueh-Hen Lu},
  journal={Proceedings., IEEE International Conference on Robotics and Automation},
  year={1990},
  pages={144-149 vol.1}
}
  • Z. Shiller, Hsueh-Hen Lu
  • Published 1990
  • Mathematics, Computer Science
  • Proceedings., IEEE International Conference on Robotics and Automation
An algorithm is presented for the computation of path-constrained time-optimal motions of robotic manipulators exploring the nature of so-called critical points and critical arcs. At critical points the reflected inertia at one of the joints is zero, and the feasible acceleration range at the velocity limit is not unique. Time-optimal motions along critical arcs may be singular in the sense that the acceleration is neither maximum nor minimum. This is in contrast to existing motion optimization… Expand
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