Recursive Log-barrier Method for On-line Time-optimal Robot Path Tracking

被引：10
|
作者：
Verscheure, Diederik [1 ]
Diehl, Moritz [2 ]
De Schutter, Joris [1 ]
Swevers, Jan [1 ]
机构：
[1] Katholieke Univ Leuven, Div PMA, Dept Mech Engn, Louvain, Belgium
[2] Katholieke Univ Leuven, Dept Elect Engn ESAT, Div SCD, Leuven, Belgium
来源：
2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 | 2009年
关键词：
MANIPULATORS;
D O I：
10.1109/ACC.2009.5159938
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focuses on time-optimal robot path tracking and develops an approximate, log-barrier batch solution method to rapidly solve discretized, convexly reformuled path tracking problems. Based on this batch solution method, which results in smooth actuator torques, a recursive variant is derived for on-line path tracking. The results and trade-offs in calculation time, delay and path duration are compared for the batch and recursive variant of the log-barrier method as well as for an exact solution method, by means of an experimental test case of a robot carrying out a writing task, in which the path data is generated on-line by human demonstration.
引用
收藏
页码：4134 / +
页数：2
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