Antonelli, Gianluca; Chiaverini, Stefano; Paolo Gerio, Gian - In: Industrial Robot: An International Journal 34 (2007) 3, pp. 217-224
Purpose – A minimum‐time path‐following algorithm for industrial robots is presented in this paper. Design/methodology/approach – The algorithm generates off‐line a trajectory that, by exploiting knowledge of the dynamic model, takes into account the actuators' torque limits while...