Journal of Mechanical Design, Transactions of the ASME

Optimal motion programming of robot manipulators

View publication


The objective of this paper is to develop general approach/to determine the optimal motion programs at the joints of a robot in order to perform a task between given work stations. The optimal joint motion programs are determined by minimizing the joint torque values. The results obtained by this technique are compared with some of the standard motion programs used in industries. © 1985 ASME.