| Summary: | 碩士 === 國立臺灣科技大學 === 工程技術研究所 === 81 === This thesis deals with the optimal time trajectory planning
problem of multiple cooperating robotic manipu- lators. The
governing dynamic equation of the system is first developed by
using the generalized D'Alembert's principle and the
generalized coordinate partitioning technique. According to
the time-scaling concept, the dynamic equation is
transformed into a set of linear equality constraints in terms
of the time-scaling factor and the joint torques. The
limitations of the joint torques are handled as side
constraints. Based on this formulation, the optimal time-
scaling factor at any points of a specified trajectory is
obtained by solving a small size linear programming problem. In
addition, an iterative search procedure is developed for
determining the maximum constant speed along the given
trajectory. Finally, the optimal distribution of the joint
torques are solved by using a quadratic programming technique.
This approach is conceptually straightforward and can be
applied to wide varieties of complex multi-robot systems.
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