sean@cs.tamu.edu (Sean Graves) (10/06/90)
Newsgroups: comp.robotics Subject: Re: Puma 560 encoders->degrees Summary: Expires: References: <8780@helios.TAMU.EDU> <1990Oct4.072035.27746@tukki.jyu.fi> Sender: Followup-To: Distribution: Organization: Computer Science Department, Texas A&M University Keywords: time-optimal movements In article <1990Oct4.072035.27746@tukki.jyu.fi> tarkiain@tukki.jyu.fi (FM Mikko Tarkiainen) writes: >In article <8780@helios.TAMU.EDU> sean@cs.tamu.edu (Sean Graves) writes: >>the user wants the move to take. Does anyone have a movement routine >>in which the user specifies the percentage of max velocity instead? > >In order to determine the maximum velocity on a given path one needs to >optimize the velocity profile, which is a bit complicated task. >See e.g. Bobrow, Dubowsky, Gibson: Time-Optimal Control of Robotic >Manipulators Along Specified Paths. Int. J. of Robotics Research, >VOL 4, NO 3, 1985, pp. 3-17. > >Mikko Tarkiainen e-mail: tarkiain@jyu.fi, tarkiain@finjyu.bitnet Thanks for the reference - I will check it out. However, I think I did not make myself clear. When I say max velocity, I am not referring to time-optimality. What I am saying is that there is some maximum angular velocity that I can drive this robot without damage, independent of the path. I would like to specify that all my moves should attempt to attain a velocity that is some fraction of this maximum. I think this is similar to VAL (but I may be wrong). -- Sean Graves sean@cs.tamu.edu Department of Computer Science Texas A&M University