Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
· Previous sections discuss common industrial methods for path planning, but these methods are generally sub-optimal.
· The example below shows two paths, and the difference in motion time for torque limited actuators.
· In the example above, the arm is bent along the path to reduce the moment of inertia, and thus allows faster motions, but this would not happen with any of the simple control schemes.
· Methods to find these paths efficiently are still in research phases.