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Planning time-optimal robotic manipulator motions and work places for point-to-point tasksA method is presented which combines simple time-optimal motions in an optimal manner to yield the minimum-time motions for an important class of complex manipulator tasks composed of point-to-point moves such as assembly, electronic component insertion, and spot welding. This method can also be used to design manipulator actions and work places so that tasks can be completed in minimum time. The method has been implemented in a computer-aided design software system. Several examples are presented. Experimental results show the method's validity and utility.
Document ID
19890055439
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Dubowsky, S.
(MIT Cambridge, MA, United States)
Blubaugh, T. D.
(General Motors Corp. Warren, MI, United States)
Date Acquired
August 14, 2013
Publication Date
June 1, 1989
Publication Information
Publication: IEEE Transactions on Robotics and Automation
Volume: 5
ISSN: 1042-296X
Subject Category
Cybernetics
Accession Number
89A42810
Funding Number(s)
CONTRACT_GRANT: NAG1-489
Distribution Limits
Public
Copyright
Other

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