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...

Полное описание

Библиографические подробности
Опубликовано в::	IEEE Transactions on robotics and automation 17, 2 (2001).
Главный автор:	Wang, C.-Y. E.
Формат:	Статья
Язык:	English
Предметы:	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.