| Journal: | Journal of the Brazilian Society of Mechanical Sciences |
| Database: | PERIÓDICA |
| System number: | 000311986 |
| ISSN: | 0100-7386 |
| Authors: | Saramago, Sezimaria F.P1 Steffen-Junior, Valder |
| Institutions: | 1Universidade Federal de Uberlandia, Departamento de Matematicas, Uberlandia, Minas Gerais. Brasil |
| Year: | 1999 |
| Season: | Sep |
| Volumen: | 21 |
| Number: | 3 |
| Pages: | 372-383 |
| Country: | Brasil |
| Language: | Inglés |
| Document type: | Artículo |
| Approach: | Descriptivo |
| English abstract | This paper presents an approach to the solution of moving a robot manipulator with minimum cost along a specified geometric path in the presence of obstacles. The main idea is to express obstacle avoidance in terms of the distances between potentially colliding parts. The optimal traveling time and the minimum mechanical energy of the actuators are considered together to build a multiobjective function. A simple numerical example involving a Cartesian manipulator arm with two-degree-of-freedom is described |
| Disciplines: | Ingeniería |
| Keyword: | Ingeniería mecánica, Robots industriales, Trayectoria, Fuerza, Manipulación, Robótica |
| Keyword: | Engineering, Mechanical engineering, Industrial robots, Trajectory, Force, Manipulation, Robotics |
| Full text: | Texto completo (Ver HTML) |
