Practical smooth minimum time trajectory planning for path following robotic manipulators

Previous computation approaches of smooth minimum time trajectory for path following robotic manipulators either cannot fully utilize the maximum ability of machines, fail to minimum machine time, or cannot be computed efficiently because of the nonlinearity of problem formulations. In this paper, a...

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Bibliographic Details
Published in2013 American Control Conference pp. 2778 - 2783
Main Authors Qiang Zhang, Shu-Rong Li, Xiao-Shan Gao
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2013
Subjects
Joints
Manipulator dynamics
Planning
Torque
Trajectory
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ISBN1479901776
9781479901777
ISSN0743-1619
DOI10.1109/ACC.2013.6580255

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Summary:Previous computation approaches of smooth minimum time trajectory for path following robotic manipulators either cannot fully utilize the maximum ability of machines, fail to minimum machine time, or cannot be computed efficiently because of the nonlinearity of problem formulations. In this paper, an efficient computation approach is proposed that has been designed as solving a convex optimization problem to generate smooth minimum time trajectory while utilizing the maximum ability of machines.
ISBN:1479901776
9781479901777
ISSN:0743-1619
DOI:10.1109/ACC.2013.6580255