| contributor author | J. E. Bobrow | |
| contributor author | J. M. McCarthy | |
| contributor author | V. K. Chu | |
| date accessioned | 2017-05-08T23:40:52Z | |
| date available | 2017-05-08T23:40:52Z | |
| date copyright | September, 1993 | |
| date issued | 1993 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26197#441_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/111655 | |
| description abstract | An algorithm is given which minimizes the time for two robots holding the same workpiece to move along a given path. The unique feature of these systems is that they have more actuators than degrees of freedom. The method can be applied to any constrained robot system, including the case where one robot arm moves in contact with a surface. In addition to finding the optimum torque histories, the algorithm determines the optimum contact force between the each robot and the workpiece throughout the motion. Constraints on these internal forces are easily introduced into the algorithm. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Time-Optimal Control of Two Robots Holding the Same Workpiece | |
| type | Journal Paper | |
| journal volume | 115 | |
| journal issue | 3 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2899121 | |
| journal fristpage | 441 | |
| journal lastpage | 446 | |
| identifier eissn | 1528-9028 | |
| keywords | Robots | |
| keywords | Time optimal control | |
| keywords | Algorithms | |
| keywords | Structural mechanics | |
| keywords | Degrees of freedom | |
| keywords | Actuators | |
| keywords | Force | |
| keywords | Torque AND Motion | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1993:;volume( 115 ):;issue: 003 | |
| contenttype | Fulltext | |