Pm. Larochelle et al., DETERMINING MAXIMUM PAYLOADS FOR COOPERATING ROBOTS UNDER TIME-OPTIMAL CONTROL, Robotics and computer-integrated manufacturing, 10(6), 1993, pp. 437-443
This work presents an algorithm which evaluates the dynamic performanc
e limit of a cooperating robotic system using movements planned for mi
nimum time. Minimum-time movements characteristically require that a s
et of motors in the robot be driven at their maximum torque throughout
the motion. These movements are limited by the combination of motor p
erformance, mechanical advantage of the kinematic chain, and the locat
ion of the start and goal positions. By increasing the payload for a m
otion until a minimum-time solution is no longer feasible the payload
limit of the system for the associated path is obtained. To illustrate
the algorithm a detailed analysis of a robotic arm developed at Odeti
cs Inc. is presented. The analysis includes numerical results for coop
erating Odetics robotic arms using their maximum payload under time-op
timal control. Furthermore, the maximum payload for the cooperating ro
botic system to perform the same motion with a 1 sec time constraint i
s determined.