Details
| Originalsprache | Englisch |
|---|---|
| Seiten (von - bis) | 1801-1807 |
| Seitenumfang | 7 |
| Fachzeitschrift | Advances in the Astronautical Sciences |
| Jahrgang | 97 PART 2 |
| Publikationsstatus | Veröffentlicht - 1997 |
| Extern publiziert | Ja |
Abstract
This paper studies the nature of time optimal paths for robots with flexible joints, such as are introduced by harmonic drives. The same model applies to robots with structural flexibility when using the first mode alone for each link, e.g. the shuttle remote manipulator. Such flexibility is an important limiting factor in the speed of operation of robots. Overcoming this limitation can allow high speed operation in manufacturing operations, and result in increased productivity. It is shown that under some conditions, flexibility in the joints can actually allow for faster robot maneuvers. Also, the flexible robot problem appears to have more local minima solutions, making it more difficult to feel assured that one knows the global solution. The times required to obtain the time optimal trajectories in this paper are in the range of one minute on a work station, so that path planning by time optimal control is approaching the stage where it can be incorporated into routine robot operations. When this stage is reached, one must decide how one addresses the vibrations issue, and this paper offers understanding of what is involved if one chooses to include vibrations in the robot model used for optimization.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Luft- und Raumfahrttechnik
- Erdkunde und Planetologie (insg.)
- Astronomie und Planetologie
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in: Advances in the Astronautical Sciences, Jahrgang 97 PART 2, 1997, S. 1801-1807.
Publikation: Beitrag in Fachzeitschrift › Artikel › Forschung › Peer-Review
}
TY - JOUR
T1 - Time optimal path planning in polar robots with joint flexibility
AU - Mössner-Beigel, Monika
AU - Steinbach, Marc
AU - Bock, Hans Georg
AU - Longman, Richard W.
PY - 1997
Y1 - 1997
N2 - This paper studies the nature of time optimal paths for robots with flexible joints, such as are introduced by harmonic drives. The same model applies to robots with structural flexibility when using the first mode alone for each link, e.g. the shuttle remote manipulator. Such flexibility is an important limiting factor in the speed of operation of robots. Overcoming this limitation can allow high speed operation in manufacturing operations, and result in increased productivity. It is shown that under some conditions, flexibility in the joints can actually allow for faster robot maneuvers. Also, the flexible robot problem appears to have more local minima solutions, making it more difficult to feel assured that one knows the global solution. The times required to obtain the time optimal trajectories in this paper are in the range of one minute on a work station, so that path planning by time optimal control is approaching the stage where it can be incorporated into routine robot operations. When this stage is reached, one must decide how one addresses the vibrations issue, and this paper offers understanding of what is involved if one chooses to include vibrations in the robot model used for optimization.
AB - This paper studies the nature of time optimal paths for robots with flexible joints, such as are introduced by harmonic drives. The same model applies to robots with structural flexibility when using the first mode alone for each link, e.g. the shuttle remote manipulator. Such flexibility is an important limiting factor in the speed of operation of robots. Overcoming this limitation can allow high speed operation in manufacturing operations, and result in increased productivity. It is shown that under some conditions, flexibility in the joints can actually allow for faster robot maneuvers. Also, the flexible robot problem appears to have more local minima solutions, making it more difficult to feel assured that one knows the global solution. The times required to obtain the time optimal trajectories in this paper are in the range of one minute on a work station, so that path planning by time optimal control is approaching the stage where it can be incorporated into routine robot operations. When this stage is reached, one must decide how one addresses the vibrations issue, and this paper offers understanding of what is involved if one chooses to include vibrations in the robot model used for optimization.
UR - http://www.scopus.com/inward/record.url?scp=3342934982&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:3342934982
VL - 97 PART 2
SP - 1801
EP - 1807
JO - Advances in the Astronautical Sciences
JF - Advances in the Astronautical Sciences
SN - 0065-3438
ER -