High Speed Motion Control of Mechanisms under Average Heat Generation Restriction. (4th Report, Generic Minimum-Time Trajectory Planning of Manipulator Including Small Coupling Effect System).

Abstract

The objective of this study is to establish a generic method to solve the minimum-time trajectory planning problem of a manipulator under both the average heat generation restriction and the intermediate-state variable restriction. We have already proposed a numerical method for this problem assuming that all the motors generate their maximum value of the average heat in the minimum-time trajectory. However, this assumption Cannot always be satisfied, especially in manipulators with a small coupling effect among joint coordinates. To remove this assumption, we present a new trajectory planning method and its computing algorithm concerning the Kuhn-Tucker theorem. Applying this method to many trajectory planning problems for both a three-DOF cartesian manipulator and a three-DOF articulated manipulator, it is found that the proposed method is efficient in solving any trajectory planning problem of a manipulator with a small coupling effect among coordinates. The quasi-minimum-time trajectory planning method is also applied comparatively to some problems, and it is found that this method can provide the approximate minimum-time solution with greatly reduced computing time.