Payload maximization for open chained manipulators finding weightlifting motions for a Puma 762 robot.

Although the dynamic equations of motion of open-chained robot systems are well known, they are seldom taken into account during the planning of motions. In this work, we show that the dynamics of a robot can be used to produce motions that extend the payload capability beyond the limit set by tradi...

Ausführliche Beschreibung

Bibliographische Detailangaben
Veröffentlicht in:	IEEE Transactions on robotics and automation 17, 2 (2001).
1. Verfasser:	Wang, C.-Y. E.
Format:	Artikel
Sprache:	English
Schlagworte:	B-spline polynomials. Puma 762 robot. Direct SQP parameter optimization. Dynamic motion equations. Hard linear inequality constraints. Joint trajectories. Large internal forces. Motion planning. Open chained manipulators. Open-chained robots. Optimal control. Payload capability. Payload maximization. Point-to-point weightlifting motion planner. Position limits. Robot dynamics. Singular configurations. Time-scale factor. Velocity limits. Weightlifting motions.