NUMERICAL SOLUTION FOR A NEAR-MINIMUM-TIME TRAJECTORY FOR TWO COORDINATED MANIPULATORS

Abstract

This paper presents a method based on state parameterization and inverse dynamics to obtain a near minimum-time trajectory for two coordinated manipulators handling a common object. Equations governing the motion of the manipulators system are derived by using Kane's method. The proposed method resolves the actuator redundancy using pseudo-inverse. It requires fewer search variables in the optimization compared to the method previously reported in literature and therefore is computationally more efficient. A numerical example is presented to show the effectiveness of the proposed method.

Keywords:

• Coordinated manipulators
• time optimal trajectory
• state parameterization
• Kane's method