Algorithmic Approach to Straight Line Trajectory Planning for Mechanical Manipulators

作者: B. H. Lee

DOI: 10.23919/ACC.1986.4788922

关键词:

摘要: An algorithmic approach to straight line trajectory planning has been developed [4]. The set points for manipulator control are determined exactly on a path. problem is formulated as maximization of the Cartesian distance between two consecutive servo time instant. subject smoothness and torque constrains. proposed simulated VAX-11/780 computer verity its performance.

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