空間径路が指定されるマニピュレータ動作の時間短縮

抄録

This paper discusses how to plan shortenedtime trajectories of manipulator joints with geometric path constraints in consideration of physical constraints based on manipulator and actuator dynamics. A time scale factor is introduced to formalize the problem as follows: A set of joint trajectories, called reference trajectories, is used to realize the specified geometric path. The time scale factor is defined as a function of time describing the set of reference trajectories. All the sets of trajectories realizing the geometric path are expressed by means of the time scale factor. The problem of planning the shortened-time trajectories is then transferred into the simple one to decide the time scale factor.
An algorithm which iteratively shortens the traveling time of trajectories is proposed to solve the formalized problem. This algorithm is a feasible method and needs a little time of computation. An example of planning the trajectories of the manipulator with four degrees of freedom shows its effectiveness. The algorithm to obtain the minimum-time trajectories is also presented.