Minimum-time path planning for robot manipulators using path parameter optimization with external force and frictions
This paper presents a new minimum-time trajectory planning method which consists of a desired path in the Cartesian space to a manipulator under external forces subject to the input voltage of the actuators. Firstly, the path is parametrized with an unknown parameter called a path parameter. This pa...
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| Format: | Article |
| Language: | English |
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University North
2019-01-01
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| Series: | Tehnički Glasnik |
| Subjects: | |
| Online Access: | https://hrcak.srce.hr/file/318453 |