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...

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Vydáno v:	IEEE transactions on robotics Ročník 29; číslo 6; s. 1485 - 1495
Hlavní autoři:	Debrouwere, Frederik, Van Loock, Wannes, Pipeleers, Goele, Dinh, Quoc Tran, Diehl, Moritz, De Schutter, Joris, Swevers, Jan
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York IEEE 01.12.2013 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Convergence Flexibility Manipulators Mobile robots Motion planning Numerical simulation Optimal control Robot control Robotics Robots Velocity
ISSN:	1552-3098, 1941-0468
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