Sequential Time-Optimal Path-Tracking Algorithm for Robots
| Autor: | István Vajk, Akos Nagy |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Linear programming Computer science Structure (category theory) 02 engineering and technology Kinematics Solver Computer Science Applications Computer Science::Robotics 020901 industrial engineering & automation Sequential time Control and Systems Engineering Robot Motion planning Electrical and Electronic Engineering Algorithm |
| Zdroj: | IEEE Transactions on Robotics. 35:1253-1259 |
| ISSN: | 1941-0468 1552-3098 |
| Popis: | This paper focuses on minimum-time path tracking, a subproblem in motion planning of robotic systems. We generate a time-optimal velocity profile for robotic manipulators taking into account kinematic and dynamic constraints. Based on the special structure of the constraints (called peaked constraints), profile generation is formulated as a linear programming (LP) problem. The LP-based control problem is solved by a sequential optimization method. The presented algorithm has reduced computational time compared to a general LP solver. |
| Databáze: | OpenAIRE |
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