SUMMARYThis paper focuses on the problem of robust time-optimal trajectory planning of robotic manipulators to track a given path under a probabilistic limited actuation, that is, the probability for the actuation to be limited is no less than a given bound κ. We give a general and practical method to reduce the probabilistic constraints to a set of deterministic constraints and show that the deterministic constraints are equivalent to a set of linear constraints under certain conditions. As a result, the original problem is reduced to a linear optimal control problem which can be solved with linear programming in polynomial time. In the case of κ = 1, the original problem is proved to be equivalent to the linear optimal control problem. Overall, a very general, practical, and efficient algorithm is given to solve the above problem and numerical simulation results are used to show the effectiveness of the method.
Real-time optimal trajectory planning for robotic manipulators with functional redundancy