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


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
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