Near time-optimal control of manipulators along a specified path with jerks constraint

Here, a time optimal control scheme for manipulators subjects to actuator torque limits is proposed. In addition to, the limits on the joint jerks are considered. These constraints create a smooth trajectory for reducing strain on robot joints. Inclusion of the jerks constraints increase the traversal time, hence a method is introduced to optimize this time. Also, an explicit algorithm for finding the switch points is presented. To this end, a simple redundant manipulator is simulated to demonstrate the efficiency of proposed method for kinematically redundant manipulators.

کلیدواژه ها:

time-optimal ، jerk constraint ، specified path ، phase-plane analysis ، redundant manipulators