Time-Optimal Path Following for Robots With Convex-Concave Constraints Using Sequential Convex Programming

Time-optimal path following considers the problem of moving along a predetermined geometric path in minimum time. In the case of a robotic manipulator with simplified constraints, a convex reformulation of this optimal control problem has been derived previously. However, many applications in roboti...

Full description

Bibliographic Details

Published in:	IEEE transactions on robotics Vol. 29; no. 6; pp. 1485 - 1495
Main Authors:	Debrouwere, Frederik, Van Loock, Wannes, Pipeleers, Goele, Dinh, Quoc Tran, Diehl, Moritz, De Schutter, Joris, Swevers, Jan
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.12.2013 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Convergence Flexibility Manipulators Mobile robots Motion planning Numerical simulation Optimal control Robot control Robotics Robots Velocity
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!