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Proceedings of CAD'17, 2017, 65-70
Time Optimal Driving on Curvilinear Path with Kinematic Constraints
Abstract. In work such as parts transport and processing, the parts or the effectors of a robot are often driven on a specified curvilinear path. Also, a car or a train often runs on a curved road or railway. When moving an object on a curved path, the force acting on the object includes not only the component in tangential direction but also the component in normal direction. Since the force acting on moving object is influenced by curvature and torsion of the path, they must be taken into account. How is an object driven through a curvilinear path as quickly as possible while limiting the force acting on it? It is the subject to be studied in this paper. In the following sections, we discuss the necessary constraints, formulating curvilinear motion, algorithm, a calculated example and the verification by using an actual manipulator.
Keywords. Time Optimal, Curvilinear Path, Curvature, Torsion, Jerk, Kinematic Constraints