Abstract
In this paper a practical method for the generation of time-optimal trajectories for industrial robots is presented. It is assumed that an industrial robot is programmed through instructions at effector level. The parameters which may then be optimized are specified degrees of freedom affixed to the acquired frames. Optimization may then be obtained through an off-line programming aid. the optimized values being then transmitted directly to the control panel. The control schemes and the optimization Are emulated through Mathematica in order to test examples on an industrial robot.
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