A computationally efficient algorithm to find time-optimal trajectory of redundantly actuated robots moving on a specified path

Mansouri, S ; Sharif University of Technology | 2018

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  1. Type of Document: Article
  2. DOI: 10.1017/S0263574718000863
  3. Publisher: Cambridge University Press , 2018
  4. Abstract:
  5. time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several unresolved issues regarding calculation of solution curves. In this paper, we explore the characteristics of the maximum velocity curve and propose an efficient algorithm to establish the solution curve. Then we propose a straightforward method to calculate the maximum or minimum possible acceleration on the path based on the pattern of saturated actuators, which substantially reduces the computational cost. Two numerical examples are provided to illustrate the issues and the solutions. © Cambridge University Press 2018
  6. Keywords:
  7. Redundantly actuated robots ; Robot control ; Time-optimal ; Computer applications ; Robotics ; Computational costs ; Computationally efficient ; Phase-plane analysis ; Redundantly actuated ; Robot controls ; Straight-forward method ; Time optimal trajectory ; Robots
  8. Source: Robotica ; 2018 ; 02635747 (ISSN)
  9. URL: https://www.cambridge.org/core/journals/robotica/article/computationally-efficient-algorithm-to-find-timeoptimal-trajectory-of-redundantly-actuated-robots-moving-on-a-specified-path/364A16CC7969A1808EF5CCB5D33EB3D4