Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
· The simplest form of motion. As the robot moves from point A to point B, each axis of the manipulator travels as quickly as possible from its initial position to its final position. All axis begin moving at the same time, but each axis ends it motion in a length of time that is proportional to the product of its distance moved and its top speed (allowing for acceleration and deceleration)
· Note: slew motion usually results in unnecessary wear on the joints and often leads to unanticipated results in the path taken by the manipulator.
· Example - A three axis manipulator with revolute joints starts with joint angles (40, 80, -40)degrees, and must move to (120, 0, 0)degrees. Assume that the joints have maximum absolute accelerations/decelerations of (50, 100, 150) degrees/sec/sec, and the maximum velocities of (20, 40, 50) degrees/sec. Using slew motion, what is the travel time for each joint?
