|
Server : Apache/2.4.62 System : FreeBSD fbsdweb2.web.rcn.net 14.1-RELEASE FreeBSD 14.1-RELEASE releng/14.1-n267679-10e31f0946d8 GENERIC amd64 User : www ( 80) PHP Version : 8.3.8 Disable Function : NONE Directory : /domains/astrosfm/AAS_meetings/1997_astro/abstracts/ |
Upload File : |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 3.2//EN">
<HTML>
<HEAD>
<TITLE>Abstract AAS 97-718</TITLE>
</HEAD>
<BODY BGCOLOR="ffffff">
<h2>AAS 97-718</h2>
<h2>TIME OPTIMAL PATH PLANNING IN POLAR ROBOTS WITH JOINT FLEXIBILITY </h2>
<h4> M. M�ssner-Beigel, M. Steinbach, and H. Georg Bock - University of Heidelberg, Germany, R.W. Longman - Columbia University </h4>
<h2> Abstract </h2>
The nature of time optimal paths are studied for robots with flexible joints or with structural flexibility using one mode for each link, e.g. the shuttle remote manipulator. Flexibility is an important limiting factor in operating speed of robots using typical feedback controllers. It is shown here that sometimes flexibility in the joints can actually allow faster maneuver times. Also, the flexible robot problem appears to have more local minima. The computation times are in the range of one minute on a work station, so that path planning by time optimal control may soon be usable in routine robot operations.