Time-optimal tube following for robotic manipulators

Frederik Debrouwere, Wannes Van Loock, Goele Pipeleers, Jan Swevers
2014 2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)  
Time-optimal path following for robots considers the problem of moving along a predetermined Cartesian geometric path in minimum time. In practice this path need not be followed exactly, but within a certain tolerance; so that the motion may be executed faster. In this paper, we define this deviation as a tube around the given geometric path. This transforms the path following problem into a tube following problem. However, unlike the former, the latter is not convex.We propose a problem
more » ... se a problem formulation that can still be solved efficiently, as illustrated by some numerical examples.
doi:10.1109/amc.2014.6823314 dblp:conf/amc/DebrouwereLPS14 fatcat:hyikua4pjff4dml6bpwnwdayf4