Abstract
The work, described in this paper, is performed as part of a collision-free motion-planning system for two cooperating robots in an assembly cell. The robots are of different types, an anthropomorphic type and a scara type.
This collision-free motion-planning is part of the Delft Intelligent Assembly Cell (DIAC) -project. The aim of the DIAC project is to obtain within four years a reliable working demonstration of a flexible assembly cell. This is further described in [1].
In this paper a modified approach of earlier algorithms is presented to calculate the time-optimal motion of a manipulator along a precalculated trajectory in joint space. The necessary motor-torques can be limited inside given boundaries through usage of a priori knowledge of robot-dynamics. To reduce the necessary calculation-time a new approach of simultaneous integration is introduced.
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References
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© 1992 Springer Science+Business Media Dordrecht
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Rieswijk, T.A., Sirks, M., Honderd, G., Jongkind, W. (1992). A fast and efficient algorithm for the computation of path constrained time-optimal motions. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_27
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DOI: https://doi.org/10.1007/978-94-011-2526-0_27
Publisher Name: Springer, Dordrecht
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