Time optimal paths and acceleration lines of robotic manipulators

A technique for open-loop minimum time planning of time-histories of control torques for robotic manipulators subject to constraints on the control torques using evolutionary algorithm is presented here. Planning is carried out in joint space of the manipulator and the path is represented as a string of via-points connected by cubic spline polynomial functions. Repeated path modification is done by using the evolutionary algorithm to search for a time-optimal path. Time taken to traverse over a particular path is calculated by reducing the dynamic equations of motion over that path in terms of a path parameter and then calculating the time optimal-control over that path.

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Time optimal paths for high speed maneuvering

10.2172/6836048 ◽

1993 ◽

Cited By ~ 1

Author(s):

D.B. Reister ◽

S.M. Lenhart

Keyword(s):

High Speed ◽

Optimal Paths ◽

Time Optimal

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Time optimal paths for high speed maneuvering

10.2172/10116250 ◽

1993 ◽

Author(s):

D.B. Reister ◽

S.M. Lenhart

Keyword(s):

High Speed ◽

Optimal Paths ◽

Time Optimal

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Approximation of Capture Sets in Visibility-Based Target-Tracking Games for Non-Holonomic Players

Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications ◽

10.1115/dscc2017-5379 ◽

2017 ◽

Author(s):

Rui Zou ◽

Sourabh Bhattacharya

Keyword(s):

Target Tracking ◽

Computing Time ◽

Line Of Sight ◽

Differential Drive ◽

Pursuit Evasion ◽

Optimal Paths ◽

Evasion Game ◽

Time Optimal ◽

Differential Drive Robot ◽

Arbitrary Line

In this work, we analyze approximations of capture sets [1] for a visibility based pursuit-evasion game. In contrast to the capture problem, the pursuer tries to maintain a line-of-sight with the evader in free space in our problem. We extend the concept of U set initially proposed in [2] for holonomic players to the scenario in which the pursuer is holonomic. The problem of computing the U set is reduced to that of computing time-optimal paths for the non-holonomic vehicles to an arbitrary line. We characterize the primitives for time-optimal paths for the Dubin’s vehicle, Reed-shepps car and a Differential Drive robot. Based on these primitives, we construct the optimal paths and provide an algorithm to compute the U set.

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