@article{Antonelli2007e,
  author = {Antonelli, Gianluca and Chiaverini, Stefano and Gerio, Gian Paolo and Palladino, Marco and Renga, Gerardo},
  title = {SmartMove4: An industrial implementation of trajectory planning for robots},
  journal = {Industrial Robot},
  volume = {34},
  number = {3},
  doi = {10.1108/01439910710738854},
  issn = {ISSN(print='0143991X', electronic=None)},
  abstract = {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 preserving the geometric path. Findings - The algorithm has been designed, implemented and extensively tested on a Comau SMART H4 robot, a closed-chain six-degree-of-freedom industrial manipulator. Practical implications - The algorithm is currently part of the new generation of industrial controllers of the Comau robots, the C4G controller. It is a feature added as with the name SmartMove4. Originality/value - The paper presents a new minimum-time path-following algorithm for industrial robots that, by exploiting knowledge of the dynamic model, takes into account the actuators' torque limits while preserving the geometric path. © Emerald Group Publishing Limited.},
  year = {2007},
}

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