The near time-optimal motion control of robotic manipulators
Publication
, Journal Article
Garg, DP; Yang, J
Published in: Journal of the Franklin Institute
January 1, 1990
The development of strategies for near time-optimal motion control of robotic manipulators is discussed. A PUMA 560 three degree-of-freedom industrial robot is used for computer simulation of algorithm. A quintic polynomial describes the trajectory of the robot end-effector traversing a specified path in Cartesian space. It is shown that a significant increase in speed and accuracy of the manipulator can be achieved with the use of the proposed algorithm. © 1990.
Duke Scholars
Published In
Journal of the Franklin Institute
DOI
ISSN
0016-0032
Publication Date
January 1, 1990
Volume
327
Issue
5
Start / End Page
785 / 804
Related Subject Headings
- Industrial Engineering & Automation
- 4901 Applied mathematics
- 4006 Communications engineering
- 0906 Electrical and Electronic Engineering
- 0102 Applied Mathematics
Citation
APA
Chicago
ICMJE
MLA
NLM
Garg, D. P., & Yang, J. (1990). The near time-optimal motion control of robotic manipulators. Journal of the Franklin Institute, 327(5), 785–804. https://doi.org/10.1016/0016-0032(90)90083-U
Garg, D. P., and J. Yang. “The near time-optimal motion control of robotic manipulators.” Journal of the Franklin Institute 327, no. 5 (January 1, 1990): 785–804. https://doi.org/10.1016/0016-0032(90)90083-U.
Garg DP, Yang J. The near time-optimal motion control of robotic manipulators. Journal of the Franklin Institute. 1990 Jan 1;327(5):785–804.
Garg, D. P., and J. Yang. “The near time-optimal motion control of robotic manipulators.” Journal of the Franklin Institute, vol. 327, no. 5, Jan. 1990, pp. 785–804. Scopus, doi:10.1016/0016-0032(90)90083-U.
Garg DP, Yang J. The near time-optimal motion control of robotic manipulators. Journal of the Franklin Institute. 1990 Jan 1;327(5):785–804.
Published In
Journal of the Franklin Institute
DOI
ISSN
0016-0032
Publication Date
January 1, 1990
Volume
327
Issue
5
Start / End Page
785 / 804
Related Subject Headings
- Industrial Engineering & Automation
- 4901 Applied mathematics
- 4006 Communications engineering
- 0906 Electrical and Electronic Engineering
- 0102 Applied Mathematics