Nonconvex Time-Optimal Trajectory Planning for Robot Manipulators

被引：13

作者：

Nagy, Akos ^{[1
]}

Vajk, Istvan ^{[1
]}

机构：

[1] Budapest Univ Technol & Econ, Dept Automat & Appl Informat, H-1117 Budapest, Hungary

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2019年 / 141卷 / 11期

关键词：

OPTIMIZATION;

D O I：

10.1115/1.4044216

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Time-optimal motion-planning has been a topic of active research in the literature for a while. This paper presents a new approach for velocity profile generation, which is a sub-problem in motion-planning. In the case of simplified constraints, profile generation can be translated to a convex optimization problem. However, some practical constraints (e.g., velocity-dependent torque, viscous friction) destroy the convexity. The proposed method can obtain the global optimum of the nonconvex optimization problem. The experimental results with a three degrees-of-freedom (DOF) robot manipulator are also presented in this paper.

引用

页数：10

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