Time-Optimal Path Tracking for Robots: A Convex Optimization Approach

This paper focuses on time-optimal path tracking, a subproblem in time-optimal motion planning of robot systems. Through a nonlinear change of variables, the time-optimal path tracking problem is transformed here into a convex optimal control problem with a single state. Various convexity-preserving...

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Bibliographic Details
Published in:	IEEE transactions on automatic control Vol. 54; no. 10; pp. 2318 - 2327
Main Authors:	Verscheure, D., Demeulenaere, B., Swevers, J., De Schutter, J., Diehl, M.
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.10.2009 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Actuators Applied sciences Automatic control Computer science; control theory; systems Control system synthesis Control theory. Systems Exact sciences and technology Manipulator dynamics Mathematical analysis Mathematical models Motion planning Nonlinearity Numerical analysis Optimal control Optimization Orbital robotics Path planning Path tracking Robot kinematics Robotics Robots Robustness Second-order cone program (SOCP)-based solution method State-space methods Tracking Minimum time Optimal control Optimal trajectory Optimal path Convexity Optimal planning Second-order cone program (SOCP)-based solution method Motion control Convex programming Variable transformation Robotics
ISSN:	0018-9286, 1558-2523
Online Access:	Get full text
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