Abstract
This paper presents an engineering approach to the time optimization of robotic motions with specified paths and trapezoidal velocity profiles. Optimizations of this type occur when dealing with continuous-path motions of commercial manipulators. Parameterized path equations and full non-linear robot dynamics are used in conjunction with the actuator limitations and the specified path and velocity profile in order to transform the problem into a non-linear programming form. The optimal velocity profile and the corresponding joint torques/forces are obtained via a simple search algorithm, without resorting to any constrained optimization technique, numerical integration, or search for the switching curve. Three examples of time-optimized robotic motions are presented.
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