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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

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