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Sequential Time-Optimal Path-Tracking Algorithm for Robots.
- Source :
- IEEE Transactions on Robotics; Oct2019, Vol. 35 Issue 5, p1253-1259, 7p
- Publication Year :
- 2019
-
Abstract
- 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. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 15523098
- Volume :
- 35
- Issue :
- 5
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 138959567
- Full Text :
- https://doi.org/10.1109/TRO.2019.2920090