摘要
By using a phase-plane analysis method,the minimum-time trajectory plan-ning problem of a manipulator moving along a given geometric path subject to the con-straints of joint velocities and accelerations is solved in this paper.The simulation resultfor the first three joints of PUMA-560 is given.
By using a phase-plane analysis method,the minimum-time trajectory plan- ning problem of a manipulator moving along a given geometric path subject to the con- straints of joint velocities and accelerations is solved in this paper.The simulation result for the first three joints of PUMA-560 is given.
