Minimum time collision-free path planning for robotic assembly
作者:
RAYMONDS. REDMAN,
A.SHERIF EL-GIZAWY,
期刊:
International Journal of Production Research
(Taylor Available online 1992)
卷期:
Volume 30,
issue 6
页码: 1301-1312
ISSN:0020-7543
年代: 1992
DOI:10.1080/00207549208942958
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
Optimum path planning of manipulator arms in assembly applications involves the selection of the optimum combination of the robot control variables under the constraints imposed by the robot's physical capabilities and the condition of the working area. The present paper describes an approach based on numerical optimization techniques to plan collision-free paths, and on Taguchi parameter design methodology to optimize the control parameters of the pick-and-place operation that would yield minimum cycle time
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