KSME Journal

, 4:3 | Cite as

Optimal design of industrial manipulator trajectory for minimal time operation

  • Ho-Ryong Kim
  • Jee-Soo Hong
  • Kyoung-Chul Ko


The operation time of an industrial manipulator which moves along the arbitrary trajectory form initial to final position is minimized. The Hartenberg-Denavit coordinates and its transformations are employed to express the motion of manipulator joints and the method of finding inverse kinematic solution is established to minimize the operation time. The dynamic equations for a manipulator ofn joints are transformed into the equation of 1 D.O.F. by utilizing path coordinates. By using a recently developed method, the allowable maximum speed limit curve is obtained from the torque limits of joint driver, and the curve is used to determine the optimal velocity curve which minimizes the operation time. The minimum time trajectory planning is applied to an industrial manipulator resulting in the performance improvement of the manipulator. As a demonstrative example, we have simulated the proposed algorithm with a dynamic model of PUMA 560 on an IBM PC.

Key Words

Time Optimal Phase Plane Trajectory Minimal Time Operation Dynamics of Industrial Manipulator Allowable Maximum Velocity Limit Curve Switching Point 


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Copyright information

© The Korean Society of Mechanical Engineers (KSME) 1990

Authors and Affiliations

  • Ho-Ryong Kim
    • 1
  • Jee-Soo Hong
    • 1
  • Kyoung-Chul Ko
    • 1
  1. 1.Department of Mechanical EngineeringYonsei UniversitySeoulKorea

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