A Direct Algorithm to Compute the Switching Curve for Time-Optimal Motion of Cooperative Multi-Manipulators Moving on a Specified Path

For more than two decades it has been known that the solution to the time-optimal problem for a manipulator along a specified path is bang-bang in terms of acceleration along the path and the switching points can be found by phase plane analysis. Despite great advances, no direct method is available...

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Bibliographic Details

Published in:	Advanced robotics Vol. 22; no. 5; pp. 493 - 506
Main Authors:	Ghasemi, Mohammad Hassan, Sadigh, Mohammad Jafar
Format:	Journal Article
Language:	English
Published:	Taylor & Francis Group 01-01-2008
Subjects:	COOPERATIVE MANIPULATOR LIMITED ACTUATORS SPECIFIED PATH SWITCHING CURVE TIME OPTIMAL
Online Access:	Get full text
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