Hk. Cho et al., TIME-OPTIMAL MOTION OF A COOPERATING MULTIPLE ROBOT SYSTEM ALONG A PRESCRIBED PATH, IEEE transactions on systems, man, and cybernetics, 25(12), 1995, pp. 1648-1657
Citations number
19
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Science Cybernetics","Engineering, Eletrical & Electronic
This paper deals with a systematic analysis of the time-optimal motion
of a multiple robot system carrying an object along a prescribed path
, In our approach, the time-optimal motion planning problem is formula
ted in a concise form hy employing a parameter describing the movement
along the path and a vector representing the internal force, Various
constraints governing the motion yield the so-called admissible region
in the phase plane of the parameter. The orthogonal projection techni
que and the theory of multiple objective optimization make it possible
to construct the admissible region, while taking into account the loa
d distribution problem that is coupled with the motion, Furthermore, o
ur approach provides: a way of detailed investigation for the admissib
le region that is not simply connected. The resulting velocity profile
of the path parameter and the internal force at every instant determi
ne the optimal actuator torques for each robot. Computer simulation re
sults reinforce the physical interpretation on the characteristics of
the optimal actuator torques.