Nonconvex Time-Optimal Trajectory Planning for Robot Manipulators
2019 ◽
Vol 141
(11)
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Time-optimal motion-planning has been a topic of active research in the literature for a while. This paper presents a new approach for velocity profile generation, which is a subproblem in motion-planning. In the case of simplified constraints, profile generation can be translated to a convex optimization problem. However, some practical constraints (e.g., velocity-dependent torque, viscous friction) destroy the convexity. The proposed method can obtain the global optimum of the nonconvex optimization problem. The experimental results with a three degrees-of-freedom (DOF) robot manipulator are also presented in this paper.
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2016 ◽
Vol 40
(3)
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pp. 383-397
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2018 ◽
Vol 62
(1)
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pp. 16-23
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2020 ◽
Vol 5
(2)
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pp. 2216-2223
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