0
RESEARCH PAPERS: Robotics Papers

Optimal Motion Programming of Robot Manipulators

[+] Author and Article Information
D. Schmitt, A. H. Soni, V. Srinivasan, G. Naganathan

School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, OK 74078

J. Mech., Trans., and Automation 107(2), 239-244 (Jun 01, 1985) (6 pages) doi:10.1115/1.3258716 History: Received November 05, 1984; Online November 19, 2009

Abstract

The objective of this paper is to develop a general approach to determine the optimal motion programs at the joints of a robot in order to perform a task between given work stations. The optimal joint motion programs are determined by minimizing the joint torque values. The results obtained by this technique are compared with some of the standard motion programs used in industries.

Copyright © 1985 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In