The authors have developed a minimum-time path-planning method in joint space taking into consideration robot arm dynamics as well as other realistic ...

We have developed a minimum-time path-planning method in joint space with the consideration of the robot arm dynamics as well as other realistic constraints.

We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling algorithm, and graph search.

The minimum-time path for a robot arm has been a long standing and unsolved problem of considerable interest. We present a general solution to this problem ...

It is supposed that in every point of the path the speed value can be determined in a “quasi constant” manner. To get the minimum time of cruising maximum speed ...

The results presented show that, in general, the optimal paths are not straight lines, but rather curves in joint-space that utilize the dynamics of the arm ...

Abstract: This paper presents a new minimum-time trajectory planning method which consists of a desired path in the Cartesian space to a manipulator under ...

The joint motions are then optimized while ensuring that at each instant, obstacles are avoided and no actuator input needed for the motion exceeds its bound.

Jun 3, 2019 · This paper presents a new minimum-time trajectory planning method which consists of a desired path in the Cartesian space to a manipulator ...

repetitively many times and, therefore, its dynamics can be learned prior to the actual execution (and also prior to path planning). Path planning has not ...