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Time optimal robotic manipulator motions and work places for point to point tasksHigh productivity requires that manipulators perform complex tasks quickly. Recently, optimal control algorithms have been developed which enable manipulators to move quickly, but only for simple motions. A method is presented here 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 completd in minimum time. The method has been implemented in a CAD software package. Examples are presented which show the methods effectiveness.
Document ID
19860058245
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Dubowsky, S.
(MIT Cambridge, MA, United States)
Blubaugh, T. D.
(General Motors Corp. Warren, OH, United States)
Date Acquired
August 12, 2013
Publication Date
January 1, 1985
Subject Category
Mechanical Engineering
Accession Number
86A42983
Funding Number(s)
CONTRACT_GRANT: NAG1-489
Distribution Limits
Public
Copyright
Other

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