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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Veröffentlicht in:	IEEE transactions on robotics Jg. 29; H. 6; S. 1485 - 1495
Hauptverfasser:	Debrouwere, Frederik, Van Loock, Wannes, Pipeleers, Goele, Dinh, Quoc Tran, Diehl, Moritz, De Schutter, Joris, Swevers, Jan
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.12.2013 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Convergence Flexibility Manipulators Mobile robots Motion planning Numerical simulation Optimal control Robot control Robotics Robots Velocity
ISSN:	1552-3098, 1941-0468
Online-Zugang:	Volltext
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