Article View: comp.robotics
Article #707Re: Puma 560 encoders->degrees
From: FM Mikko Tarkiainen
Date: Thu, 04 Oct 1990 07:20
Date: Thu, 04 Oct 1990 07:20
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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? max velocity ??? 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. >Although we could write one ourselves, we would rather not do something >that has already been done 1001 times. I am sure that some people have done it, and I would really be interested in the implementations (incl. PUMA). But can we ever find the true optimal movements, are the mathematical models we use accurate enough? -- Mikko Tarkiainen e-mail: tarkiain@jyu.fi, tarkiain@finjyu.bitnet Department of Mathematics telefax: +358 41 602701 University of Jyvaskyla, Finland phone: +358 41 602762
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arc1-ca.pugleaf.net!utzoo!utgpu!news-server.csri.toronto.edu!cs.utexas.edu!sdd.hp.com!ucsd!ucbvax!bloom-beacon!eru!hagbard!sunic!news.funet.fi!tukki.jyu.fi!tarkiainReferences:
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Path: arc1-ca.pugleaf.net!utzoo!utgpu!news-server.csri.toronto.edu!cs.utexas.edu!sdd.hp.com!ucsd!ucbvax!bloom-beacon!eru!hagbard!sunic!news.funet.fi!tukki.jyu.fi!tarkiain From: tarkiain@tukki.jyu.fi (FM Mikko Tarkiainen) Newsgroups: comp.robotics Subject: Re: Puma 560 encoders->degrees Keywords: time-optimal movements Message-ID: <1990Oct4.072035.27746@tukki.jyu.fi> Date: 4 Oct 90 07:20:35 GMT References: <8780@helios.TAMU.EDU> Organization: University of Jyvaskyla, Finland Lines: 26