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Optimal time joint‐trajectory planning for an industrial manipulator using linear interpolation
Author(s) -
Jeon Hong Tae,
Eslami Mansour
Publication year - 1988
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.4660090210
Subject(s) - revolute joint , cartesian coordinate system , workspace , path (computing) , trajectory , line (geometry) , joint (building) , acceleration , interpolation (computer graphics) , computer science , motion planning , set (abstract data type) , line segment , control theory (sociology) , mathematics , motion (physics) , robot , geometry , computer vision , artificial intelligence , engineering , physics , architectural engineering , control (management) , classical mechanics , astronomy , programming language
The path of an industrial manipulator in a crowded workspace generally consists of a set of Cartesian straight‐line segments connecting a set of two adjacent points. To achieve the Cartesian straight‐line path (segment) is, however, a non‐trivial task, and an alternative approach is to place enough intermediate points along a desired path and linearly interpolate between these points in the joint space. A method is developed that determines the subtravelling and transition times such that the total travelling time for this path is minimized subject to the maximum joint velocity and acceleration constraints. These results are simulated on a digital computer using a six‐joint revolute manipulator to show their applications.