Abstract: A computational technique is developed for obtaining the time-optimal trajectory of a manipulator to carry a specified pay load for a given two-end-point task based on the system dynamic model. Considering the inherent configurations of manipulators as well as the generality and integration of dynamic modeling, the transformation matrices of system components are defined by Rodrgiuez formula according to Chales theory based on the multi-body dynamics . Then, the system dynamic model is derived via Lagrangian approach. The method combining the iterative linear programming (ILT) with the dynamic correcting is developed to determine the system minimum working time of manipulators by one dimensional searching approach along the time axis. At last, one numerical example involving a 3-DOF spacial manipulator using the approach is presented and the results are discussed.

Key words: dynamic modeling;integration;generality;working time optimization